From 24343d2c18f418ac41be87224969545b7459c6a9 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 12:48:25 +0200 Subject: [PATCH 01/33] Add OdinV2 skeleton on a fresh branch off develop Cuts the Odin harness down to its OSMO half. The fleet stack (asgard, valhalla, hugin, munin, common) stays on antoiner/feat/odin and is not carried over; a layout test asserts those sub-packages never reappear. Keeps the osmo CLI wrapper and trims the task-name sanitiser down to the one function OdinV2 still needs. Everything else is rewritten against Isaac Lab's own benchmark entrypoints. --- tools/odin/__init__.py | 6 + tools/odin/client.py | 318 +++++++++++++++++++++++++++++++ tools/odin/templates/__init__.py | 4 + tools/odin/tests/__init__.py | 6 + tools/odin/tests/conftest.py | 18 ++ tools/odin/tests/test_layout.py | 27 +++ tools/odin/workflow.py | 48 +++++ 7 files changed, 427 insertions(+) create mode 100644 tools/odin/__init__.py create mode 100644 tools/odin/client.py create mode 100644 tools/odin/templates/__init__.py create mode 100644 tools/odin/tests/__init__.py create mode 100644 tools/odin/tests/conftest.py create mode 100644 tools/odin/tests/test_layout.py create mode 100644 tools/odin/workflow.py 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/client.py b/tools/odin/client.py new file mode 100644 index 000000000000..61d29899362c --- /dev/null +++ b/tools/odin/client.py @@ -0,0 +1,318 @@ +# 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 collections.abc import Iterable, Iterator +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) + +_UNKNOWN_FLAG_PATTERNS = ( + re.compile(r"unknown flag", re.IGNORECASE), + re.compile(r"unrecognized argument", re.IGNORECASE), + re.compile(r"--output.*not recognized", re.IGNORECASE), +) + + +def _looks_like_unknown_flag(stderr: str) -> bool: + return any(p.search(stderr) for p in _UNKNOWN_FLAG_PATTERNS) + + +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, *, rsync_pairs: Iterable[tuple[str, str]] = (), pool: str | None = None) -> str: + """Submit a workflow YAML and return the workflow_id. + + Args: + yaml_path: Path to the rendered workflow YAML. + rsync_pairs: Pairs of ``(local_path, container_path)`` for OSMO's + ``--rsync`` continuous-sync feature. + + 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]) + for local, remote in rsync_pairs: + cmd.extend(["--rsync", f"{local}:{remote}"]) + 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. + + Tries ``--output json`` first; if the flag is unrecognized, retries + with the default table output and parses that. + + 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`. + """ + cmd_json = [self._exe, "workflow", "query", workflow_id, "--output", "json"] + cp = self._run(cmd_json) + if cp.returncode == 0: + return self._parse_status_json(cp.stdout, workflow_id) + if _looks_like_unknown_flag(cp.stderr): + cp2 = self._run([self._exe, "workflow", "query", workflow_id]) + if cp2.returncode != 0: + raise _classify(cp2.stderr)(f"`osmo workflow query` failed: {cp2.stderr.strip()}") + return self._parse_status_table(cp2.stdout, workflow_id) + raise _classify(cp.stderr)(f"`osmo workflow query` failed: {cp.stderr.strip()}") + + @staticmethod + def _parse_status_json(stdout: str, workflow_id: str) -> WorkflowSnapshot: + 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(t["name"]), + status=str(t["status"]), + exit_code=(None if t.get("exit_code") in (None, "-") else int(t["exit_code"])), + ) + for t in data.get("tasks") or [] + ] + return WorkflowSnapshot( + workflow_id=str(data.get("id", workflow_id)), + status=str(data["status"]), + tasks=tasks, + ) + + @staticmethod + def _parse_status_table(stdout: str, workflow_id: str) -> WorkflowSnapshot: + """Parse the table form of ``osmo workflow query``. + + OSMO's table looks like:: + + Workflow ID : odin-disp-... + Status : COMPLETED + ... + Task Name Start Time Status + ===================================================================== + rsl-rl-physx-isaac-cartpole-... May 11, 2026 16:46 CEST COMPLETED + + The ``Status :`` line ("workflow status") uses ``: `` (colon-space) + separator; ``Task Name`` is the data-table header. Data rows have + the task name as the first whitespace-delimited token and the + status as the last; the middle (Start Time) contains spaces and + is ignored. + """ + wf_status = "UNKNOWN" + tasks: list[TaskSnapshot] = [] + in_tasks = False + for raw in stdout.splitlines(): + line = raw.strip() + if not line or line.startswith("===") or line.startswith("---"): + continue + if line.startswith("Status") and ":" in line: + wf_status = line.split(":", 1)[1].strip() + continue + if line.startswith("Task Name"): + in_tasks = True + continue + if not in_tasks: + continue + parts = line.split() + if len(parts) < 2: + continue + name = parts[0] + status = parts[-1] + tasks.append(TaskSnapshot(name=name, status=status, exit_code=None)) + return WorkflowSnapshot(workflow_id=workflow_id, status=wf_status, tasks=tasks) + + def dataset_download(self, name: str, dest_dir: Path) -> None: + """Download an OSMO dataset to a local directory. + + Creates ``dest_dir`` (and parents) if missing. + + Args: + name: OSMO dataset name (typically ``{prefix}-{dispatch_id}-{run_id}``). + dest_dir: Local directory to download into. + + Raises: + OsmoAuthError, OsmoTransientError, OsmoCliError: per :func:`_classify`. + """ + dest_dir.mkdir(parents=True, exist_ok=True) + cmd = [self._exe, "dataset", "download", name, str(dest_dir)] + cp = self._run(cmd) + if cp.returncode != 0: + raise _classify(cp.stderr)(f"`osmo dataset download` failed: {cp.stderr.strip()}") + + def dataset_delete(self, name: str) -> None: + """Delete an OSMO dataset (all versions) without prompting. + + Used by Bifrost to reclaim OSMO bucket storage after a bundle + has been downloaded + validated locally — the OSMO copy is + redundant once the bundle is on disk. + + Args: + name: OSMO dataset name to delete. + + Raises: + OsmoAuthError, OsmoTransientError, OsmoCliError: per :func:`_classify`. + """ + cmd = [self._exe, "dataset", "delete", name, "--all", "--force"] + cp = self._run(cmd) + if cp.returncode != 0: + raise _classify(cp.stderr)(f"`osmo dataset delete` failed: {cp.stderr.strip()}") + + def cancel(self, workflow_id: str) -> None: + """Cancel an in-flight workflow. + + Args: + workflow_id: The OSMO workflow ID. + + Raises: + OsmoAuthError, OsmoTransientError, OsmoCliError: per :func:`_classify`. + """ + cp = self._run([self._exe, "workflow", "cancel", workflow_id]) + if cp.returncode != 0: + raise _classify(cp.stderr)(f"`osmo workflow cancel` failed: {cp.stderr.strip()}") + + def logs(self, workflow_id: str, task_name: str, *, follow: bool = False) -> Iterator[bytes]: + """Yield log bytes from the named task. + + With ``follow=False``, runs the command to completion and yields + the captured stdout as a single bytes chunk. With ``follow=True``, + streams stdout line-by-line until the subprocess exits. + + Args: + workflow_id: The OSMO workflow ID. + task_name: The task name (must match an OSMO task name in the workflow). + follow: If True, follow the live stream (like ``tail -f``). + + Yields: + Bytes chunks of stdout. + + Raises: + OsmoAuthError, OsmoTransientError, OsmoCliError: on non-zero exit (non-follow path only). + """ + cmd = [self._exe, "workflow", "logs", workflow_id, task_name] + if follow: + cmd.append("--follow") + return self._stream_logs(cmd) + cp = self._run(cmd) + if cp.returncode != 0: + raise _classify(cp.stderr)(f"`osmo workflow logs` failed: {cp.stderr.strip()}") + return iter([cp.stdout.encode()]) + + def _stream_logs(self, cmd: list[str]) -> Iterator[bytes]: + proc = subprocess.Popen(cmd, env=self._env(), stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=False) + assert proc.stdout is not None + try: + yield from iter(proc.stdout.readline, b"") + finally: + proc.stdout.close() + proc.wait() 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/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..5e1bcaabe235 --- /dev/null +++ b/tools/odin/tests/conftest.py @@ -0,0 +1,18 @@ +# 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 sys +from pathlib import Path + +_REPO_ROOT = Path(__file__).resolve().parents[3] +if str(_REPO_ROOT) not in sys.path: + sys.path.insert(0, str(_REPO_ROOT)) diff --git a/tools/odin/tests/test_layout.py b/tools/odin/tests/test_layout.py new file mode 100644 index 000000000000..d5251643be59 --- /dev/null +++ b/tools/odin/tests/test_layout.py @@ -0,0 +1,27 @@ +# 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 + +import pytest + +_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") + + +@pytest.mark.parametrize("name", _REMOVED_SUBPACKAGES) +def test_removed_subpackage_is_absent(name: str) -> None: + assert not (_ODIN_ROOT / name).exists(), f"tools/odin/{name} should not exist in OdinV2" + + +def test_package_imports() -> None: + assert importlib.import_module("tools.odin") is not None diff --git a/tools/odin/workflow.py b/tools/odin/workflow.py new file mode 100644 index 000000000000..70420e5d01c1 --- /dev/null +++ b/tools/odin/workflow.py @@ -0,0 +1,48 @@ +# 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 + +__all__ = ["osmo_safe_task_name"] + + +_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}" From fc32692004674f9f573367e3ac16a37be7fc2d1f Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 12:49:55 +0200 Subject: [PATCH 02/33] Add OdinV2 config loader Validates odin.yaml with key-path error messages. Rejects booleans where integers are required, since YAML would otherwise read 'gpu: true' as a request for one GPU. --- tools/odin/config/odin.yaml | 42 ++++++ tools/odin/config_file.py | 197 +++++++++++++++++++++++++++ tools/odin/tests/test_config_file.py | 104 ++++++++++++++ 3 files changed, 343 insertions(+) create mode 100644 tools/odin/config/odin.yaml create mode 100644 tools/odin/config_file.py create mode 100644 tools/odin/tests/test_config_file.py diff --git a/tools/odin/config/odin.yaml b/tools/odin/config/odin.yaml new file mode 100644 index 000000000000..43050bc73435 --- /dev/null +++ b/tools/odin/config/odin.yaml @@ -0,0 +1,42 @@ +# 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-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 + +# 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 + +# Bucket URI prefix results are published under. OSMO datasets were retired; +# see tools/odin/results.py for the seam this feeds. +results_uri: s3://isaac-odin/results + +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..329acdf14fc1 --- /dev/null +++ b/tools/odin/config_file.py @@ -0,0 +1,197 @@ +# 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 + + +@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 {} + + 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=_require_int(raw, "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/tests/test_config_file.py b/tools/odin/tests/test_config_file.py new file mode 100644 index 000000000000..0fe80bb376b2 --- /dev/null +++ b/tools/odin/tests/test_config_file.py @@ -0,0 +1,104 @@ +# 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_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 From 50a3a8d810e15cb9095978d0e6d62805f7e985fb Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 12:51:14 +0200 Subject: [PATCH 03/33] Add OdinV2 dispatch state Schema 2.0, keyed by row_key rather than a synthesised run_id: upstream's capture.synth_run_id() is timestamp-derived, so the controller cannot pre-compute it. Sizing fields are optional so a first dispatch can omit them and let each task run at its shipped agent-config default; those resolved values are later harvested back out of the emitted bundles. Records an image reference per A/B side, digest-pinned, so a retag cannot change what a comparison compared. --- tools/odin/state.py | 326 +++++++++++++++++++++++++++++++++ tools/odin/tests/test_state.py | 179 ++++++++++++++++++ 2 files changed, 505 insertions(+) create mode 100644 tools/odin/state.py create mode 100644 tools/odin/tests/test_state.py diff --git a/tools/odin/state.py b/tools/odin/state.py new file mode 100644 index 000000000000..02440c577311 --- /dev/null +++ b/tools/odin/state.py @@ -0,0 +1,326 @@ +# 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=``. + renderer: Renderer preset token, or ``None`` to run headless. + 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 + renderer: str | None + 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 + attempts: int = 0 + 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 or inflate the attempt count. + + 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() + self.attempts += 1 + 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, + "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, + "attempts": job.attempts, + "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 _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=str(payload["physics"]), + renderer=payload.get("renderer"), + 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=payload.get("assigned_to"), + attempts=int(payload.get("attempts", 0)), + failure=failure, + started_at=payload.get("started_at"), + ended_at=payload.get("ended_at"), + ) + + +def _schema_version_compatible(got: str) -> bool: + """Return ``True`` iff *got* shares a major version with :data:`SCHEMA_VERSION`.""" + if not got: + return False + return got.split(".", 1)[0] == SCHEMA_VERSION.split(".", 1)[0] + + +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 an incompatible major 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 not _schema_version_compatible(got): + raise ValueError(f"unsupported dispatch.json schema_version {got!r} (expected major {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/tests/test_state.py b/tools/odin/tests/test_state.py new file mode 100644 index 000000000000..002664134559 --- /dev/null +++ b/tools/odin/tests/test_state.py @@ -0,0 +1,179 @@ +# 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, + 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_read_returns_none_when_absent(tmp_path: Path) -> None: + assert read_dispatch_state(tmp_path) is None + + +def test_incompatible_major_schema_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" + assert job.attempts == 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 + assert job.attempts == 1 + + +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" From e3d911cc7e1cbfa20bab4609e36fdc839c015104 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 12:52:59 +0200 Subject: [PATCH 04/33] Add OdinV2 row planning and chunking Expands a seed list of (task_id, rl_library, physics) triples across seeds into deterministic rows. Sizing is optional and omitted by default so each task runs at its shipped agent-config default on the first dispatch. Selects uv extras per row instead of using the 'all' aggregate: [tool.uv].conflicts declares isaacsim incompatible with all, test, mimic, teleop, ovphysx, and viser, so a physx row and an ovphysx row can never share a virtualenv. Chunks cheapest-first, with unbudgeted rows last so they cannot size a chunk shared with a known-short task. --- tools/odin/config/tasks.yaml | 40 +++++ tools/odin/plan.py | 270 ++++++++++++++++++++++++++++++ tools/odin/tests/test_chunking.py | 67 ++++++++ tools/odin/tests/test_plan.py | 125 ++++++++++++++ 4 files changed, 502 insertions(+) create mode 100644 tools/odin/config/tasks.yaml create mode 100644 tools/odin/plan.py create mode 100644 tools/odin/tests/test_chunking.py create mode 100644 tools/odin/tests/test_plan.py diff --git a/tools/odin/config/tasks.yaml b/tools/odin/config/tasks.yaml new file mode 100644 index 000000000000..9261f9fa0ca3 --- /dev/null +++ b/tools/odin/config/tasks.yaml @@ -0,0 +1,40 @@ +# 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 + +# Seed task list for OdinV2. +# +# Each entry carries only (task_id, rl_library, physics) — and optionally +# `renderer`. Sizing is deliberately absent: `--num_envs` and `--max_iterations` +# both default to None upstream and fall back to the task's shipped agent +# config, so a first dispatch runs every task at its shipped size. The resolved +# values, the wall-clock cost, and a reward baseline are harvested back out of +# the returned bundles and written to `task_metadata.yaml`, which later +# dispatches read as an overlay on this file. +# +# This file is replaced wholesale once the upstream task-discovery API lands. +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 + + - task_id: Isaac-Ant + rl_library: rsl_rl + physics: physx + + - task_id: Isaac-Humanoid + rl_library: rsl_rl + physics: newton_mjwarp + + - task_id: Isaac-Humanoid + rl_library: rsl_rl + physics: physx diff --git a/tools/odin/plan.py b/tools/odin/plan.py new file mode 100644 index 000000000000..7e0d4ab58548 --- /dev/null +++ b/tools/odin/plan.py @@ -0,0 +1,270 @@ +# 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. + +This module is also the seam the upstream task-discovery API replaces: when +``isaaclab tasks list --json`` lands, :func:`load_task_rows` swaps its source and +nothing downstream of :class:`PlannedRow` changes. +""" + +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__ = [ + "PlanError", + "PlannedRow", + "build_row_key", + "chunk_rows", + "load_task_rows", + "plan_rows", + "uv_extras_for", +] + +# pyproject extra names differ from the --rl_library token: underscores in the +# CLI token, hyphens in the extra. +_RL_LIBRARY_EXTRAS: dict[str, str] = { + "rsl_rl": "rsl-rl", + "rl_games": "rl-games", + "skrl": "skrl", + "sb3": "sb3", +} + +# Physics presets that require Isaac Sim in the virtualenv. +_ISAACSIM_PHYSICS = frozenset({"physx"}) +# Renderers that require Isaac Sim in the virtualenv. +_ISAACSIM_RENDERERS = frozenset({"isaacsim_rtx"}) +# Extras added alongside the RL library when Isaac Sim is required. Nothing from +# [tool.uv].conflicts' isaacsim row (all, test, mimic, teleop, ovphysx, viser) +# may ever join this set. +_ISAACSIM_COMPANIONS: tuple[str, ...] = ("isaacsim",) +# Extras added when Isaac Sim is not required. +_NEWTON_COMPANIONS: tuple[str, ...] = ("rerun",) +# Omniverse tokens that are only resolvable outside the isaacsim fork. +_OV_TOKENS = frozenset({"ovphysx", "ovrtx"}) + +_REQUIRED_FIELDS = ("task_id", "rl_library", "physics") + + +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}_{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=``. + renderer: Renderer preset token, or ``None`` to run headless. + 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 + renderer: str | None + seed: int + num_envs: int | None + max_iterations: int | None + timeout_s: int | None + uv_extras: tuple[str, ...] + osmo_task_name: str + + +def build_row_key(rl_library: str, physics: str, task_id: str, seed: int) -> str: + """Return the deterministic identity for one row. + + Args: + rl_library: RL library token. + physics: Physics preset token. + task_id: Gym task id. + seed: Environment seed. + + Returns: + ``{rl_library}_{physics}_{task_id}_seed{seed}``. + """ + return f"{rl_library}_{physics}_{task_id}_seed{seed}" + + +def uv_extras_for(rl_library: str, physics: str, renderer: str | None) -> tuple[str, ...]: + """Return the ``uv`` extras needed to run one row. + + Isaac Sim conflicts with the ``all`` aggregate under ``[tool.uv].conflicts``, + so RL-library extras are always selected individually rather than via ``all``. + + Args: + rl_library: RL library token, e.g. ``rsl_rl``. + physics: Physics preset token, e.g. ``physx``. + renderer: Renderer preset token, or ``None``. + + Returns: + Extras in a stable, de-duplicated order, suitable for ``--extra`` flags. + + Raises: + PlanError: If *rl_library* is not a known library. + """ + if rl_library not in _RL_LIBRARY_EXTRAS: + raise PlanError(f"unknown rl_library {rl_library!r}; expected one of {sorted(_RL_LIBRARY_EXTRAS)}") + + extras: list[str] = [_RL_LIBRARY_EXTRAS[rl_library]] + if physics in _ISAACSIM_PHYSICS or (renderer or "") in _ISAACSIM_RENDERERS: + extras.extend(_ISAACSIM_COMPANIONS) + else: + extras.extend(_NEWTON_COMPANIONS) + extras.extend(token for token in (physics, renderer or "") if token in _OV_TOKENS) + return tuple(dict.fromkeys(extras)) + + +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, unparseable, 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 _sort_key(row: PlannedRow) -> tuple[int, 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. + """ + return (row.timeout_s if row.timeout_s is not None else 2**31 - 1, row.task_id, row.physics, 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, 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"]) + physics = str(entry["physics"]) + renderer = entry.get("renderer") + extras = uv_extras_for(rl_library, physics, renderer) + + for seed in seeds: + row_key = build_row_key(rl_library, physics, task_id, seed) + 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, + 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=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: + ValueError: If *chunk_size* is less than one. + """ + if chunk_size < 1: + raise ValueError(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/tests/test_chunking.py b/tools/odin/tests/test_chunking.py new file mode 100644 index 000000000000..4835c6e4ab0f --- /dev/null +++ b/tools/odin/tests/test_chunking.py @@ -0,0 +1,67 @@ +# 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, + 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() -> None: + rows = [_row(f"t{i}", 100) for i in range(5)] + assert [len(chunk) for _, chunk in chunk_rows(rows, 2)] == [2, 2, 1] + + +def test_chunk_indices_ascend_from_zero() -> None: + rows = [_row(f"t{i}", 100) for i in range(5)] + assert [index for index, _ in chunk_rows(rows, 2)] == [0, 1, 2] + + +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_plan.py b/tools/odin/tests/test_plan.py new file mode 100644 index 000000000000..0de6ce3456bf --- /dev/null +++ b/tools/odin/tests/test_plan.py @@ -0,0 +1,125 @@ +# 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 PlanError, build_row_key, load_task_rows, plan_rows, uv_extras_for + +# 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_physx_selects_the_isaacsim_extras_profile() -> None: + extras = uv_extras_for("rsl_rl", "physx", None) + assert "isaacsim" in extras + assert "rsl-rl" in extras + # [tool.uv].conflicts declares isaacsim incompatible with 'all' (which + # aggregates mimic), so selecting it would make the venv unresolvable. + assert "all" not in extras + assert "mimic" not in extras + + +def test_isaacsim_rtx_renderer_forces_the_isaacsim_profile() -> None: + assert "isaacsim" in uv_extras_for("rsl_rl", "newton_mjwarp", "isaacsim_rtx") + + +def test_newton_backend_avoids_isaacsim() -> None: + extras = uv_extras_for("skrl", "newton_mjwarp", None) + assert "isaacsim" not in extras + assert "skrl" in extras + + +def test_ovphysx_never_shares_a_venv_with_isaacsim() -> None: + extras = uv_extras_for("rsl_rl", "ovphysx", None) + assert "isaacsim" not in extras + assert "ovphysx" in extras + + +def test_ovrtx_renderer_pulls_its_extra() -> None: + assert "ovrtx" in uv_extras_for("rsl_rl", "newton_mjwarp", "ovrtx") + + +def test_rl_library_extra_uses_the_hyphenated_pyproject_name() -> None: + assert "rl-games" in uv_extras_for("rl_games", "newton_mjwarp", None) + + +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", "rl_library": "rsl_rl"}], 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_shipped_seed_list_plans_cleanly() -> None: + shipped = Path(__file__).resolve().parents[1] / "config" / "tasks.yaml" + rows = plan_rows(task_rows=load_task_rows(shipped), seeds=[42]) + assert rows + assert all(r.osmo_task_name for r in rows) From 72e7df01fc5b4f585127a0a637f877ddc27da8e0 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 12:54:29 +0200 Subject: [PATCH 05/33] Add OdinV2 workflow rendering Each task runs 'uv run isaaclab benchmark training' directly; the hugin and munin wrappers are gone. Sizing flags are omitted when unset so the task falls back to its shipped agent config. Keeps the one-group-per-task wrapping: OSMO's exec_timeout clock starts at each group's RUNNING transition, so tasks at the workflow root get killed for other tasks' queue time. The entry script captures the benchmark exit code before publishing results and re-raises it afterwards, so a failed run still uploads whatever it produced. --- tools/odin/templates/dispatch.yaml.j2 | 58 +++++++++ tools/odin/tests/test_workflow.py | 173 ++++++++++++++++++++++++++ tools/odin/workflow.py | 57 ++++++++- 3 files changed, 287 insertions(+), 1 deletion(-) create mode 100644 tools/odin/templates/dispatch.yaml.j2 create mode 100644 tools/odin/tests/test_workflow.py diff --git a/tools/odin/templates/dispatch.yaml.j2 b/tools/odin/templates/dispatch.yaml.j2 new file mode 100644 index 000000000000..2bff44ae6c71 --- /dev/null +++ b/tools/odin/templates/dispatch.yaml.j2 @@ -0,0 +1,58 @@ +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 %} + pull_credential: {{ cfg.image.pull_credential }} +{% 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 "$OUT" --benchmark_formatter schema physics={{ row.physics }}{% if row.renderer %} renderer={{ row.renderer }}{% endif %} + + rc=$? + set -e + echo "=== odin: benchmark exit_code=$rc ===" + find "$OUT" -type f | head -40 + {{ publish_commands[row.row_key] }} + exit $rc +{% 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/test_workflow.py b/tools/odin/tests/test_workflow.py new file mode 100644 index 000000000000..ccb89d66121f --- /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.""" + +import dataclasses + +import pytest +import yaml + +from tools.odin.config_file import ImageSpec, OdinConfig, ResourcesSpec, RetrySpec +from tools.odin.plan import 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, + seed=42, + num_envs=None, + max_iterations=None, + timeout_s=None, + uv_extras=("rsl-rl", "isaacsim"), + osmo_task_name="rsl-rl-physx-isaac-ant-seed42", +) + +_IMAGE = "nvcr.io/nvidian/antoiner-isaac-lab@sha256:abc" + + +def _render(rows=(_ROW,), publish=None, chunk_index=0): + rows = list(rows) + if publish is None: + publish = {row.row_key: "echo published" for row in rows} + return render_workflow_yaml( + dispatch_id="20260728-120000", + chunk_index=chunk_index, + rows=rows, + cfg=_CFG, + image_ref=_IMAGE, + publish_commands=publish, + ) + + +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_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_image_reference_is_the_digest_pinned_argument() -> None: + assert _task(_render())["image"] == _IMAGE + + +def test_pull_credential_is_emitted_when_configured() -> None: + assert _task(_render())["pull_credential"] == "ngc_read_only" + + +def test_timeouts_come_from_config() -> None: + timeout = yaml.safe_load(_render())["workflow"]["timeout"] + assert timeout["exec_timeout"] == "86400s" + assert timeout["queue_timeout"] == "172800s" + + +def test_entry_script_invokes_the_upstream_benchmark_cli() -> None: + script = _script(_render()) + assert "uv run" in script + assert "--extra rsl-rl" in script + assert "--extra isaacsim" in script + assert "isaaclab benchmark training" in script + assert "--rl_library rsl_rl" in script + assert "--task Isaac-Ant" in script + assert "--seed 42" in script + assert "--benchmark_formatter schema" in script + assert "physics=physx" in script + + +def test_entry_script_does_not_pass_headless() -> None: + # --headless was removed upstream in favour of --visualizer/--viz; runs are + # headless when neither is passed. + assert "--headless" not in _script(_render()) + + +def test_unsized_row_omits_the_sizing_flags() -> None: + # Omitting them is what makes the task fall back to its shipped agent config. + script = _script(_render()) + assert "--num_envs" not in script + assert "--max_iterations" not in script + + +def test_sized_row_emits_the_sizing_flags() -> None: + row = dataclasses.replace(_ROW, num_envs=4096, max_iterations=500) + script = _script(_render(rows=(row,))) + assert "--num_envs 4096" in script + assert "--max_iterations 500" in script + + +def test_headless_row_omits_the_renderer_selector() -> None: + assert "renderer=" not in _script(_render()) + + +def test_renderer_selector_is_emitted_when_set() -> None: + row = dataclasses.replace(_ROW, renderer="isaacsim_rtx") + assert "renderer=isaacsim_rtx" in _script(_render(rows=(row,))) + + +def test_publish_command_is_spliced_in() -> None: + script = _script(_render(publish={_ROW.row_key: "osmo data upload s3://b/x $OUT"})) + assert "osmo data upload s3://b/x $OUT" in script + + +def test_entry_script_preserves_the_benchmark_exit_code() -> None: + # Results must publish even on failure, so the script captures rc rather + # than dying under `set -e`, then exits with it. + script = _script(_render()) + assert "rc=$?" in script + assert "exit $rc" in script + + +def test_exit_actions_come_from_retry_config() -> None: + actions = _task(_render())["exitActions"] + assert actions["RESCHEDULE"] == "3001-3006" + assert "RESTART" not in actions + + +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_missing_publish_command_is_rejected() -> None: + with pytest.raises(KeyError, match=_ROW.row_key): + _render(publish={}) + + +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) diff --git a/tools/odin/workflow.py b/tools/odin/workflow.py index 70420e5d01c1..6ec4cc9c5cf2 100644 --- a/tools/odin/workflow.py +++ b/tools/odin/workflow.py @@ -9,8 +9,16 @@ import hashlib import re +from pathlib import Path +from typing import TYPE_CHECKING -__all__ = ["osmo_safe_task_name"] +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 @@ -46,3 +54,50 @@ def osmo_safe_task_name(row_key: str) -> str: 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, + publish_commands: dict[str, 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. + publish_commands: Shell snippet per ``row_key``, spliced into the entry + script after the benchmark call. + + Returns: + The rendered workflow YAML. + + Raises: + KeyError: If a row has no entry in *publish_commands*. + """ + missing = [row.row_key for row in rows if row.row_key not in publish_commands] + if missing: + raise KeyError(f"publish_commands is missing entries for: {missing}") + 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, + publish_commands=publish_commands, + ) From 5c89483d29193920ceb067458ef0a11905d2f763 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 12:55:40 +0200 Subject: [PATCH 06/33] Trim the osmo client for OdinV2 Replaces dataset download and delete with 'osmo data download' against a bucket URI: OSMO datasets are retired. A test asserts the dataset helpers stay gone so they cannot creep back in. Drops the rsync dev path OdinV2 does not use and forwards --priority on submit. --- tools/odin/client.py | 47 +++++-------- tools/odin/tests/test_client.py | 113 ++++++++++++++++++++++++++++++++ 2 files changed, 128 insertions(+), 32 deletions(-) create mode 100644 tools/odin/tests/test_client.py diff --git a/tools/odin/client.py b/tools/odin/client.py index 61d29899362c..1bd240286c63 100644 --- a/tools/odin/client.py +++ b/tools/odin/client.py @@ -19,7 +19,7 @@ import os import re import subprocess -from collections.abc import Iterable, Iterator +from collections.abc import Iterator from dataclasses import dataclass from pathlib import Path @@ -117,13 +117,14 @@ def _run(self, cmd: list[str]) -> subprocess.CompletedProcess[str]: check=False, ) - def submit(self, yaml_path: Path, *, rsync_pairs: Iterable[tuple[str, str]] = (), pool: str | None = None) -> str: + 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. - rsync_pairs: Pairs of ``(local_path, container_path)`` for OSMO's - ``--rsync`` continuous-sync feature. + 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. @@ -134,8 +135,8 @@ def submit(self, yaml_path: Path, *, rsync_pairs: Iterable[tuple[str, str]] = () cmd: list[str] = [self._exe, "workflow", "submit", str(yaml_path)] if pool is not None: cmd.extend(["--pool", pool]) - for local, remote in rsync_pairs: - cmd.extend(["--rsync", f"{local}:{remote}"]) + 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()}") @@ -232,41 +233,23 @@ def _parse_status_table(stdout: str, workflow_id: str) -> WorkflowSnapshot: tasks.append(TaskSnapshot(name=name, status=status, exit_code=None)) return WorkflowSnapshot(workflow_id=workflow_id, status=wf_status, tasks=tasks) - def dataset_download(self, name: str, dest_dir: Path) -> None: - """Download an OSMO dataset to a local directory. + def data_download(self, remote_uri: str, dest_dir: Path) -> None: + """Download a bucket URI into a local directory. - Creates ``dest_dir`` (and parents) if missing. + OSMO datasets were retired; ``osmo data`` against a backend URI is the + replacement. Args: - name: OSMO dataset name (typically ``{prefix}-{dispatch_id}-{run_id}``). - dest_dir: Local directory to download into. + 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) - cmd = [self._exe, "dataset", "download", name, str(dest_dir)] - cp = self._run(cmd) - if cp.returncode != 0: - raise _classify(cp.stderr)(f"`osmo dataset download` failed: {cp.stderr.strip()}") - - def dataset_delete(self, name: str) -> None: - """Delete an OSMO dataset (all versions) without prompting. - - Used by Bifrost to reclaim OSMO bucket storage after a bundle - has been downloaded + validated locally — the OSMO copy is - redundant once the bundle is on disk. - - Args: - name: OSMO dataset name to delete. - - Raises: - OsmoAuthError, OsmoTransientError, OsmoCliError: per :func:`_classify`. - """ - cmd = [self._exe, "dataset", "delete", name, "--all", "--force"] - cp = self._run(cmd) + cp = self._run([self._exe, "data", "download", remote_uri, str(dest_dir)]) if cp.returncode != 0: - raise _classify(cp.stderr)(f"`osmo dataset delete` failed: {cp.stderr.strip()}") + raise _classify(cp.stderr)(f"`osmo data download` failed: {cp.stderr.strip()}") def cancel(self, workflow_id: str) -> None: """Cancel an in-flight workflow. diff --git a/tools/odin/tests/test_client.py b/tools/odin/tests/test_client.py new file mode 100644 index 000000000000..9a148b6f332f --- /dev/null +++ b/tools/odin/tests/test_client.py @@ -0,0 +1,113 @@ +# 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 subprocess +from pathlib import Path + +import pytest + +from tools.odin.client import OsmoAuthError, OsmoCliError, OsmoClient, 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") + + +def test_status_parses_json(monkeypatch) -> None: + payload = '{"id": "wf-1", "status": "RUNNING", "tasks": [{"name": "t1", "status": "COMPLETED", "exit_code": 0}]}' + snapshot = _client(monkeypatch, _FakeRun(_cp(stdout=payload))).status("wf-1") + assert snapshot.status == "RUNNING" + assert snapshot.tasks[0].name == "t1" + assert snapshot.tasks[0].exit_code == 0 + + +def test_status_falls_back_to_table_when_json_flag_is_unknown(monkeypatch) -> None: + table = "Status : COMPLETED\nTask Name Start Time Status\n====\nt1 May 11, 2026 16:46 CEST COMPLETED\n" + fake = _FakeRun(_cp(returncode=2, stderr="unknown flag: --output"), _cp(stdout=table)) + snapshot = _client(monkeypatch, fake).status("wf-1") + assert snapshot.status == "COMPLETED" + assert snapshot.tasks[0].name == "t1" + + +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_dataset_helpers_are_gone() -> None: + # OSMO datasets were retired; leaving these around would invite their use. + assert not hasattr(OsmoClient, "dataset_download") + assert not hasattr(OsmoClient, "dataset_delete") From 6b1bafcbf9167e51a24907253ad1bca9d2d84ac8 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 12:56:45 +0200 Subject: [PATCH 07/33] Add OdinV2 poller Renames the failure kinds off their Hugin provenance: benchmark_crash, malformed_bundle, timeout, infrastructure. Unrecognised FAILED_* states fall back to infrastructure so OSMO version drift cannot wedge the loop or be misread as a benchmark crash, and a failed status query is skipped for the tick rather than aborting the dispatch. --- tools/odin/poller.py | 205 +++++++++++++++++++++++++++++++ tools/odin/tests/test_poller.py | 211 ++++++++++++++++++++++++++++++++ 2 files changed, 416 insertions(+) create mode 100644 tools/odin/poller.py create mode 100644 tools/odin/tests/test_poller.py diff --git a/tools/odin/poller.py b/tools/odin/poller.py new file mode 100644 index 000000000000..d0214c9bc5b8 --- /dev/null +++ b/tools/odin/poller.py @@ -0,0 +1,205 @@ +# 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__ = [ + "OSMO_STATE_TO_FAILURE_KIND", + "TERMINAL_OSMO_STATES", + "classify_terminal_state", + "is_terminal", + "poll_until_terminal", + "sync_once", +] + +# ``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": + return None + if osmo_state in OSMO_STATE_TO_FAILURE_KIND: + return OSMO_STATE_TO_FAILURE_KIND[osmo_state] + if osmo_state.startswith("FAILED"): + return "infrastructure" + return None + + +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" + # SUBMITTING, WAITING, PROCESSING, SCHEDULING, INITIALIZING, RESCHEDULED. + return "pending" + + +def sync_once( + *, + client: _StatusClient, + state: DispatchState, + dispatch_dir: Path, + on_task_completed: Callable[[JobEntry], None], + completed_seen: set[str] | None = None, +) -> None: + """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``. + + 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"} + + 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. A persistent auth failure keeps surfacing here, which is the + # operator's signal to fix credentials. + 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": + job.transition_to("completed") + if job.row_key not in completed_seen: + completed_seen.add(job.row_key) + on_task_completed(job) + elif new_status == "failed": + job.transition_to( + "failed", + failure=FailureInfo( + kind=classify_terminal_state(task.status) or "infrastructure", + 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) + + +def poll_until_terminal( + *, + client: _StatusClient, + state: DispatchState, + dispatch_dir: Path, + on_task_completed: Callable[[JobEntry], None], + poll_interval_s: float, +) -> 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. + """ + completed_seen = {job.row_key for job in state.jobs if job.status == "completed"} + while not _all_terminal(state): + sync_once( + client=client, + state=state, + dispatch_dir=dispatch_dir, + on_task_completed=on_task_completed, + completed_seen=completed_seen, + ) + 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/tests/test_poller.py b/tools/odin/tests/test_poller.py new file mode 100644 index 000000000000..730e28c27637 --- /dev/null +++ b/tools/odin/tests/test_poller.py @@ -0,0 +1,211 @@ +# 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 classify_terminal_state, is_terminal, poll_until_terminal, sync_once +from tools.odin.state import SCHEMA_VERSION, DispatchState, 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, + 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_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"), + ], +) +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_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_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, + ) From f8eccb2750f62c97d4dca9c8b34115112c5c1cca Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 12:57:27 +0200 Subject: [PATCH 08/33] Add OdinV2 results seam OSMO datasets are retired and the replacement is not settled. This isolates storage behind publish_command and fetch_results so swapping the mechanism is a one-file change. fetch_results returns the row directory even when the bundle is unreadable, so one bad row is reclassified rather than aborting the dispatch. Ships a bucket-URI implementation over 'osmo data' as the placeholder. --- tools/odin/results.py | 118 +++++++++++++++++++++++++++++ tools/odin/tests/test_results.py | 124 +++++++++++++++++++++++++++++++ 2 files changed, 242 insertions(+) create mode 100644 tools/odin/results.py create mode 100644 tools/odin/tests/test_results.py diff --git a/tools/odin/results.py b/tools/odin/results.py new file mode 100644 index 000000000000..48f2c4cabdc5 --- /dev/null +++ b/tools/odin/results.py @@ -0,0 +1,118 @@ +# 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, so this module is the seam that isolates whatever +replaces them. Nothing else in OdinV2 imports a storage concept, so swapping the +implementation here is a one-file change. + +The current implementation uses bucket URIs via ``osmo data upload`` and +``osmo data download``. +""" + +from __future__ import annotations + +import json +from pathlib import Path +from typing import Protocol + +__all__ = ["fetch_results", "publish_command", "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 publish_command(*, base_uri: str, dispatch_id: str, row_key: str) -> str: + """Return the shell snippet that uploads one row's output directory. + + The snippet tolerates its own failure: the benchmark's exit code is the + task's verdict, and an upload problem must be visible in the logs without + masking it. + + Args: + base_uri: Bucket URI prefix from ``odin.yaml``. + dispatch_id: Dispatch identifier. + row_key: Row identity. + + Returns: + A single-line shell command for splicing into the entry script. + """ + uri = results_uri_for(base_uri, dispatch_id, row_key) + return f'osmo data upload "{uri}" "$OUT" || echo "=== odin: results upload failed ==="' + + +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 some bundle file exists, parses as JSON, and declares a + ``schema_version``. + """ + if not bundle_dir.is_dir(): + return False + 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 True + return False + + +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/tests/test_results.py b/tools/odin/tests/test_results.py new file mode 100644 index 000000000000..5f5b56afa3dd --- /dev/null +++ b/tools/odin/tests/test_results.py @@ -0,0 +1,124 @@ +# 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 fetch_results, publish_command, 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) + # Upstream's SchemaBundleFile writes "_.json" into + # --output_path, where output_prefix is "benchmark__". + 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_publish_command_uploads_the_output_directory() -> None: + cmd = publish_command(base_uri="s3://b/results", dispatch_id="20260728-120000", row_key="row") + assert "osmo data upload" in cmd + assert "s3://b/results/20260728-120000/row" in cmd + assert '"$OUT"' in cmd + + +def test_publish_command_does_not_abort_the_task_on_upload_failure() -> None: + # The benchmark exit code is the task's verdict; a failed upload must be + # visible in the logs without masking it. + cmd = publish_command(base_uri="s3://b/results", dispatch_id="d", row_key="row") + assert "||" in cmd + + +def test_valid_bundle_passes(tmp_path: Path) -> None: + _bundle(tmp_path / "row") + assert validate_bundle(tmp_path / "row") is True + + +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 From 3811c6b97d2640d1145717766838faaaf959f8f2 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 13:00:10 +0200 Subject: [PATCH 09/33] Add OdinV2 image builder Pins a commit by cloning a git bundle into a CUDA image and running uv sync --frozen against that commit's committed uv.lock, so a commit that changes a dependency is tested with the changed dependency. Clones from a bundle rather than copying a checkout because capture_versions() records git_commit and git_branch; without a real .git every emitted benchmark bundle would lose its provenance. The Dockerfile asserts the checked-out HEAD matches the requested commit. Bundles a single temporary ref rather than --all to keep the build context small, and removes that ref even when bundling fails. --- tools/odin/image.py | 238 +++++++++++++++++++++++++++++ tools/odin/templates/Dockerfile.j2 | 35 +++++ tools/odin/tests/test_image.py | 176 +++++++++++++++++++++ 3 files changed, 449 insertions(+) create mode 100644 tools/odin/image.py create mode 100644 tools/odin/templates/Dockerfile.j2 create mode 100644 tools/odin/tests/test_image.py diff --git a/tools/odin/image.py b/tools/odin/image.py new file mode 100644 index 000000000000..ba75670b9893 --- /dev/null +++ b/tools/odin/image.py @@ -0,0 +1,238 @@ +# 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 + +__all__ = [ + "BUNDLE_REF", + "DEFAULT_CUDA_IMAGE", + "PROFILES", + "ImageBuildError", + "build_image", + "image_tag_for", + "render_dockerfile", + "resolve_ref", +] + +# uv extras per profile. ``[tool.uv].conflicts`` declares ``isaacsim`` +# incompatible with all, test, mimic, teleop, ovphysx, and viser, so the isaacsim +# profile selects RL libraries individually and never through ``all``. +PROFILES: dict[str, tuple[str, ...]] = { + "isaacsim": ("isaacsim", "rsl-rl", "skrl", "rl-games", "sb3"), + "newton": ("rsl-rl", "skrl", "rl-games", "sb3", "rerun", "ovrtx", "ovphysx"), +} + +# 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, profiles: list[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. + profiles: Profiles baked into the image, in order. + + Returns: + ``/:-[-...]``. + """ + return f"{spec.registry}/{spec.repository}:{commit_sha[:7]}-{'-'.join(profiles)}" + + +def render_dockerfile(*, commit_sha: str, cuda_image: str, profiles: list[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. + profiles: Profile names to warm, each a key of :data:`PROFILES`. + + Returns: + The rendered Dockerfile. + + Raises: + ImageBuildError: If a profile is not a known profile name. + """ + unknown = [profile for profile in profiles if profile not in PROFILES] + if unknown: + raise ImageBuildError(f"unknown profile(s) {unknown}; expected some of {sorted(PROFILES)}") + 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, + profiles=profiles, + profile_extras=PROFILES, + bundle_ref=BUNDLE_REF, + ) + + +def build_image( + *, + spec: ImageSpec, + ref: str, + repo_root: Path, + profiles: list[str], + 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. + profiles: Profile names to warm. + 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, profiles) + + context_dir.mkdir(parents=True, exist_ok=True) + (context_dir / "Dockerfile").write_text( + render_dockerfile(commit_sha=commit_sha, cuda_image=cuda_image, profiles=profiles) + ) + if dry_run: + return tag + + _bundle_commit(commit_sha, repo_root=repo_root, dest=context_dir / "isaaclab.bundle", run=run) + _check( + run(["docker", "build", "-t", tag, str(context_dir)], capture_output=True, text=True, check=False), + "docker build", + ) + if push: + _check(run(["docker", "push", tag], capture_output=True, text=True, 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.""" + if completed.returncode != 0: + raise ImageBuildError(f"{what} failed: {(completed.stderr or '').strip()}") diff --git a/tools/odin/templates/Dockerfile.j2 b/tools/odin/templates/Dockerfile.j2 new file mode 100644 index 000000000000..e669265eccf0 --- /dev/null +++ b/tools/odin/templates/Dockerfile.j2 @@ -0,0 +1,35 @@ +# 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. Each profile warms +# UV_CACHE_DIR; at task time `uv run --frozen --extra ...` re-syncs from that +# cache without touching the network. +{% for profile in profiles %} +RUN uv sync --frozen {% for extra in profile_extras[profile] %}--extra {{ extra }} {% endfor %} +{% endfor %} diff --git a/tools/odin/tests/test_image.py b/tools/odin/tests/test_image.py new file mode 100644 index 000000000000..74d492b2c56f --- /dev/null +++ b/tools/odin/tests/test_image.py @@ -0,0 +1,176 @@ +# 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.""" + +import subprocess +from pathlib import Path + +import pytest + +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_tag_encodes_the_short_sha_and_profiles() -> None: + assert image_tag_for(_SPEC, _SHA, ["isaacsim", "newton"]) == ( + "nvcr.io/nvidian/antoiner-isaac-lab:abcdef1-isaacsim-newton" + ) + + +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_dockerfile_clones_from_the_bundle_and_verifies_the_sha() -> None: + text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1-runtime-ubuntu24.04", profiles=["newton"]) + assert "FROM nvidia/cuda:12.8.1-runtime-ubuntu24.04" in text + assert "isaaclab.bundle" in text + assert f"git clone --branch {BUNDLE_REF}" in text + assert f'test "$(git rev-parse HEAD)" = "{_SHA}"' in text + + +def test_dockerfile_syncs_once_per_profile() -> None: + text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["isaacsim", "newton"]) + assert text.count("RUN uv sync") == 2 + + +def test_dockerfile_pins_the_lockfile_on_sync() -> None: + # Without --frozen a stale local uv could re-resolve and defeat the pinning. + text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["newton"]) + assert "uv sync --frozen" in text + + +def test_isaacsim_profile_never_selects_conflicting_extras() -> None: + # [tool.uv].conflicts declares isaacsim incompatible with these. + text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["isaacsim"]) + sync_line = next(line for line in text.splitlines() if "uv sync" in line) + for forbidden in ("--extra all", "--extra mimic", "--extra teleop", "--extra ovphysx", "--extra viser"): + assert forbidden not in sync_line + + +def test_unknown_profile_is_rejected() -> None: + with pytest.raises(ImageBuildError, match="quantum"): + render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["quantum"]) + + +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, + profiles=["newton"], + context_dir=tmp_path / "ctx", + dry_run=True, + run=fake, + ) + assert tag.endswith(":abcdef1-newton") + 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, profiles=["newton"], 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") + + +def test_temp_ref_is_deleted_after_bundling(tmp_path: Path) -> None: + fake = _FakeRun() + build_image( + spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["newton"], 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, profiles=["newton"], 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, profiles=["newton"], 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, + profiles=["newton"], + context_dir=tmp_path / "ctx", + push=True, + run=fake, + ) + assert fake.ran("docker", "push") + + +def test_failed_docker_build_raises(tmp_path: Path) -> None: + fake = _FakeRun({"docker build": _cp(returncode=1, stderr="no space left on device")}) + with pytest.raises(ImageBuildError, match="no space left"): + build_image( + spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["newton"], context_dir=tmp_path / "ctx", run=fake + ) From e5bcf653bb84b23fdd18341f84523c1c5b11d290 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 13:02:26 +0200 Subject: [PATCH 10/33] Add OdinV2 CLI Wires planning, rendering, submission, polling, and fetching into four subcommands. A/B mode submits the same row set against two digest-pinned images, disambiguating row keys and OSMO task names by side so both can share one dispatch. A COMPLETED task whose bundle does not parse is reclassified malformed_bundle rather than counted as a success. --- tools/odin/cli.py | 348 +++++++++++++++++++++++++++++++ tools/odin/plan.py | 5 +- tools/odin/tests/test_cli.py | 175 ++++++++++++++++ tools/odin/tests/test_client.py | 2 +- tools/odin/tests/test_image.py | 12 +- tools/odin/tests/test_poller.py | 4 +- tools/odin/tests/test_results.py | 6 +- 7 files changed, 533 insertions(+), 19 deletions(-) create mode 100644 tools/odin/cli.py create mode 100644 tools/odin/tests/test_cli.py diff --git a/tools/odin/cli.py b/tools/odin/cli.py new file mode 100644 index 000000000000..03be7e432d04 --- /dev/null +++ b/tools/odin/cli.py @@ -0,0 +1,348 @@ +# 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. +""" + +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.image import DEFAULT_CUDA_IMAGE, PROFILES, ImageBuildError, build_image +from tools.odin.plan import PlanError, PlannedRow, chunk_rows, load_task_rows, plan_rows +from tools.odin.poller import poll_until_terminal +from tools.odin.results import fetch_results, publish_command, validate_bundle +from tools.odin.state import ( + SCHEMA_VERSION, + DispatchState, + FailureInfo, + JobEntry, + read_dispatch_state, + 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, + 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) + profiles = args.profile or ["newton"] + tag = build_image( + spec=cfg.image, + ref=args.ref, + repo_root=_REPO_ROOT, + profiles=profiles, + context_dir=args.context_dir, + cuda_image=args.cuda_image, + push=args.push, + dry_run=args.dry_run, + ) + print(tag) + return 0 + + +def command_dispatch(args: argparse.Namespace) -> int: + """Plan rows, render workflows, and (unless dry-running) submit and poll.""" + cfg = load_odin_config(args.config) + chunk_size = args.chunk_size if args.chunk_size is not None else cfg.chunk_size + + rows = plan_rows(task_rows=load_task_rows(args.tasks_yaml), seeds=args.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(args.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] + ], + ) + 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, + publish_commands={ + row.row_key: publish_command( + base_uri=cfg.results_uri, dispatch_id=dispatch_id, row_key=row.row_key + ) + for row in chunk + }, + ) + 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 _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) + 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) + + 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=args.poll_interval, + ) + + state.ended_at = _utc_now_iso() + write_dispatch_state(dispatch_dir, state) + failed = [job for job in state.jobs if job.status == "failed"] + _print_summary(state) + return 1 if failed 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 _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( + "--profile", + action="append", + choices=sorted(PROFILES), + default=None, + help="uv extras profile to warm; repeatable. Defaults to 'newton'.", + ) + 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, required=True) + dispatch.add_argument("--image", type=str, required=True, 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, required=True) + dispatch.add_argument("--include", type=str, default=None, help="Glob filter over task_id.") + 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("--dry-run", action="store_true") + + 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")) + + return parser + + +_COMMANDS = { + "build-image": command_build_image, + "dispatch": command_dispatch, + "status": command_status, + "fetch": command_fetch, +} + + +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) as exc: + print(f"[odin] {exc}", file=sys.stderr) + return 1 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/tools/odin/plan.py b/tools/odin/plan.py index 7e0d4ab58548..9b12e3beff16 100644 --- a/tools/odin/plan.py +++ b/tools/odin/plan.py @@ -153,7 +153,7 @@ def load_task_rows(path: Path) -> list[dict[str, Any]]: Raw task entries, unvalidated; :func:`plan_rows` validates them. Raises: - PlanError: If the file is unreadable, unparseable, or lacks a ``tasks`` + PlanError: If the file is unreadable, unparsable, or lacks a ``tasks`` list. """ try: @@ -261,8 +261,7 @@ def chunk_rows(rows: list[PlannedRow], chunk_size: int) -> list[tuple[int, list[ 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)) + (index, ordered[start : start + chunk_size]) for index, start in enumerate(range(0, len(ordered), chunk_size)) ] diff --git a/tools/odin/tests/test_cli.py b/tools/odin/tests/test_cli.py new file mode 100644 index 000000000000..624443ad16c5 --- /dev/null +++ b/tools/odin/tests/test_cli.py @@ -0,0 +1,175 @@ +# 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") + shutil.copy(_ODIN_ROOT / "config" / "tasks.yaml", tmp_path / "tasks.yaml") + 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: + main(_dispatch_argv(workspace, "--include", "Isaac-Cartpole-*")) + assert {job["task_id"] for job in _state(workspace)["jobs"]} == {"Isaac-Cartpole-Direct"} + + +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", + "--profile", "newton", + "--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 diff --git a/tools/odin/tests/test_client.py b/tools/odin/tests/test_client.py index 9a148b6f332f..9b91857cb2ee 100644 --- a/tools/odin/tests/test_client.py +++ b/tools/odin/tests/test_client.py @@ -10,7 +10,7 @@ import pytest -from tools.odin.client import OsmoAuthError, OsmoCliError, OsmoClient, OsmoTransientError +from tools.odin.client import OsmoAuthError, OsmoClient, OsmoCliError, OsmoTransientError class _FakeRun: diff --git a/tools/odin/tests/test_image.py b/tools/odin/tests/test_image.py index 74d492b2c56f..8dcdebf2526a 100644 --- a/tools/odin/tests/test_image.py +++ b/tools/odin/tests/test_image.py @@ -121,9 +121,7 @@ def test_dry_run_writes_the_context_but_invokes_no_docker(tmp_path: Path) -> Non 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, profiles=["newton"], context_dir=tmp_path / "ctx", run=fake - ) + build_image(spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["newton"], 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") @@ -131,9 +129,7 @@ def test_build_bundles_one_ref_and_invokes_docker_build(tmp_path: Path) -> None: def test_temp_ref_is_deleted_after_bundling(tmp_path: Path) -> None: fake = _FakeRun() - build_image( - spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["newton"], context_dir=tmp_path / "ctx", run=fake - ) + build_image(spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["newton"], context_dir=tmp_path / "ctx", run=fake) assert fake.ran("git", "update-ref", "-d", f"refs/heads/{BUNDLE_REF}") @@ -148,9 +144,7 @@ def test_temp_ref_is_deleted_even_when_bundling_fails(tmp_path: Path) -> None: def test_push_is_skipped_unless_requested(tmp_path: Path) -> None: fake = _FakeRun() - build_image( - spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["newton"], context_dir=tmp_path / "ctx", run=fake - ) + build_image(spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["newton"], context_dir=tmp_path / "ctx", run=fake) assert not fake.ran("docker", "push") diff --git a/tools/odin/tests/test_poller.py b/tools/odin/tests/test_poller.py index 730e28c27637..9d6cd278168d 100644 --- a/tools/odin/tests/test_poller.py +++ b/tools/odin/tests/test_poller.py @@ -162,9 +162,7 @@ def test_unknown_task_names_are_ignored(tmp_path: Path) -> None: 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 - ) + sync_once(client=_FakeClient(snapshot), state=state, dispatch_dir=tmp_path, on_task_completed=lambda job: None) assert state.jobs[0].status == "pending" diff --git a/tools/odin/tests/test_results.py b/tools/odin/tests/test_results.py index 5f5b56afa3dd..5fd669bd754f 100644 --- a/tools/odin/tests/test_results.py +++ b/tools/odin/tests/test_results.py @@ -107,9 +107,9 @@ 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") + 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: From e0a983e12407db4c0817a6cc7115217ddb0ae9a2 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 13:05:49 +0200 Subject: [PATCH 11/33] Add OdinV2 metadata harvesting Derives per-task sizing, a wall-clock budget, and a reward baseline from a completed dispatch's bundles, so the sizing table is measured rather than guessed. A first dispatch runs every task at its shipped agent-config default; harvest reads the resolved values back out. plan.apply_metadata overlays the result onto the seed list, with seed-list values winning so a hand-set override survives a later harvest. Crashed runs are excluded: their duration describes the failure, not the task. --- tools/odin/cli.py | 60 +++++++-- tools/odin/harvest.py | 206 +++++++++++++++++++++++++++++++ tools/odin/plan.py | 33 +++++ tools/odin/tests/test_cli.py | 121 ++++++++++++++---- tools/odin/tests/test_harvest.py | 159 ++++++++++++++++++++++++ tools/odin/tests/test_plan.py | 36 +++++- 6 files changed, 579 insertions(+), 36 deletions(-) create mode 100644 tools/odin/harvest.py create mode 100644 tools/odin/tests/test_harvest.py diff --git a/tools/odin/cli.py b/tools/odin/cli.py index 03be7e432d04..b2a89ed4601a 100644 --- a/tools/odin/cli.py +++ b/tools/odin/cli.py @@ -11,6 +11,7 @@ - ``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. +- ``harvest`` — derive per-task metadata from a completed dispatch's bundles. """ from __future__ import annotations @@ -24,8 +25,9 @@ from tools.odin.client import OsmoClient from tools.odin.config_file import OdinConfig, OdinConfigError, load_odin_config +from tools.odin.harvest import DEFAULT_TIMEOUT_HEADROOM, harvest_dispatch, write_task_metadata from tools.odin.image import DEFAULT_CUDA_IMAGE, PROFILES, ImageBuildError, build_image -from tools.odin.plan import PlanError, PlannedRow, chunk_rows, load_task_rows, plan_rows +from tools.odin.plan import PlanError, PlannedRow, apply_metadata, chunk_rows, load_task_rows, plan_rows from tools.odin.poller import poll_until_terminal from tools.odin.results import fetch_results, publish_command, validate_bundle from tools.odin.state import ( @@ -114,7 +116,10 @@ def command_dispatch(args: argparse.Namespace) -> int: cfg = load_odin_config(args.config) chunk_size = args.chunk_size if args.chunk_size is not None else cfg.chunk_size - rows = plan_rows(task_rows=load_task_rows(args.tasks_yaml), seeds=args.seeds, include=args.include) + task_rows = load_task_rows(args.tasks_yaml) + if args.metadata_yaml is not None: + task_rows = apply_metadata(task_rows, load_task_rows(args.metadata_yaml)) + rows = plan_rows(task_rows=task_rows, seeds=args.seeds, include=args.include) if not rows: print("[odin] no rows matched; nothing to dispatch", file=sys.stderr) return 1 @@ -135,11 +140,7 @@ def command_dispatch(args: argparse.Namespace) -> int: ended_at=None, seeds=list(args.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] - ], + jobs=[_job_from_row(row, side=side, image_ref=image) for side, image in sides for row in sided_rows[side]], ) write_dispatch_state(dispatch_dir, state) @@ -153,9 +154,7 @@ def command_dispatch(args: argparse.Namespace) -> int: cfg=cfg, image_ref=image, publish_commands={ - row.row_key: publish_command( - base_uri=cfg.results_uri, dispatch_id=dispatch_id, row_key=row.row_key - ) + row.row_key: publish_command(base_uri=cfg.results_uri, dispatch_id=dispatch_id, row_key=row.row_key) for row in chunk }, ) @@ -268,6 +267,21 @@ def command_fetch(args: argparse.Namespace) -> int: return 0 if valid == len(completed) else 1 +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") @@ -291,11 +305,15 @@ def _build_parser() -> argparse.ArgumentParser: dispatch.add_argument("--config", type=Path, required=True) dispatch.add_argument("--tasks-yaml", type=Path, required=True) dispatch.add_argument("--image", type=str, required=True, 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("--image-b", type=str, default=None, help="Digest-pinned image for side B; enables A/B mode.") dispatch.add_argument("--seeds", type=_parse_seeds, required=True) 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) @@ -312,6 +330,21 @@ def _build_parser() -> argparse.ArgumentParser: fetch.add_argument("--config", type=Path, required=True) fetch.add_argument("--runs-root", type=Path, default=Path("./odin_runs")) + 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 @@ -320,6 +353,7 @@ def _build_parser() -> argparse.ArgumentParser: "dispatch": command_dispatch, "status": command_status, "fetch": command_fetch, + "harvest": command_harvest, } diff --git a/tools/odin/harvest.py b/tools/odin/harvest.py new file mode 100644 index 000000000000..7c2b1be8e7c4 --- /dev/null +++ b/tools/odin/harvest.py @@ -0,0 +1,206 @@ +# 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``, which is the natural +home for these values once they have settled. +""" + +from __future__ import annotations + +import json +import statistics +from dataclasses import dataclass +from pathlib import Path +from typing import Any + +import yaml + +__all__ = [ + "DEFAULT_TIMEOUT_HEADROOM", + "TaskMetadata", + "harvest_dispatch", + "read_bundle", + "write_task_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 + +_BUNDLE_GLOB = "benchmark_*.json" + + +@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. + 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 + 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 read_bundle(row_dir: Path) -> dict[str, Any] | None: + """Return the parsed schema bundle in *row_dir*, or ``None``. + + Args: + row_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 row_dir.is_dir(): + return None + for candidate in sorted(row_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 _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: + ValueError: If *timeout_headroom* is not greater than zero. + """ + if timeout_headroom <= 0: + raise ValueError(f"timeout_headroom must be > 0, got {timeout_headroom}") + + grouped: dict[tuple[str, str, str], list[dict[str, Any]]] = {} + for row_dir in sorted(p for p in dispatch_dir.iterdir() if p.is_dir()): + 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") + physics = (run.get("config") or {}).get("physics_backend") + if not (task_id and rl_library and physics): + continue + grouped.setdefault((str(task_id), str(rl_library), str(physics)), []).append(bundle) + + entries: list[TaskMetadata] = [] + for (task_id, rl_library, physics), 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, + 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, + "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/plan.py b/tools/odin/plan.py index 9b12e3beff16..83498373f523 100644 --- a/tools/odin/plan.py +++ b/tools/odin/plan.py @@ -29,6 +29,7 @@ __all__ = [ "PlanError", "PlannedRow", + "apply_metadata", "build_row_key", "chunk_rows", "load_task_rows", @@ -36,6 +37,9 @@ "uv_extras_for", ] +# Sizing fields a harvested metadata entry may contribute to a seed entry. +_OVERLAY_FIELDS = ("num_envs", "max_iterations", "timeout_s") + # pyproject extra names differ from the --rl_library token: underscores in the # CLI token, hyphens in the extra. _RL_LIBRARY_EXTRAS: dict[str, str] = { @@ -168,6 +172,35 @@ def load_task_rows(path: Path) -> list[dict[str, Any]]: return tasks +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)``. 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 = {(entry.get("task_id"), entry.get("rl_library"), entry.get("physics")): entry for entry in metadata_rows} + merged: list[dict[str, Any]] = [] + for entry in task_rows: + overlay = by_key.get((entry.get("task_id"), entry.get("rl_library"), entry.get("physics"))) + 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, int]: """Order rows cheapest-first, with unbudgeted rows last. diff --git a/tools/odin/tests/test_cli.py b/tools/odin/tests/test_cli.py index 624443ad16c5..644af9a437ec 100644 --- a/tools/odin/tests/test_cli.py +++ b/tools/odin/tests/test_cli.py @@ -27,11 +27,16 @@ def workspace(tmp_path: Path) -> 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"), + "--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, ] @@ -128,34 +133,57 @@ def test_multiple_seeds_expand(workspace: Path) -> None: 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"] + [ + "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", - "--profile", "newton", - "--context-dir", str(tmp_path / "ctx"), - "--dry-run", - ]) + code = main( + [ + "build-image", + "--config", + str(workspace / "odin.yaml"), + "--ref", + "HEAD", + "--profile", + "newton", + "--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", - ]) + 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 @@ -173,3 +201,52 @@ def test_status_reports_job_counts(workspace: Path, capsys) -> None: 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 diff --git a/tools/odin/tests/test_harvest.py b/tools/odin/tests/test_harvest.py new file mode 100644 index 000000000000..828d1e208e4a --- /dev/null +++ b/tools/odin/tests/test_harvest.py @@ -0,0 +1,159 @@ +# 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 harvest_dispatch, read_bundle, 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_read_bundle_returns_none_for_an_empty_dir(tmp_path: Path) -> None: + (tmp_path / "row").mkdir() + assert read_bundle(tmp_path / "row") is None + + +def test_read_bundle_parses_a_written_bundle(tmp_path: Path) -> None: + _write_bundle(tmp_path, "row") + bundle = read_bundle(tmp_path / "row") + assert bundle is not None + assert bundle["run"]["task"] == "Isaac-Ant" + + +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(ValueError, match="timeout_headroom"): + harvest_dispatch(tmp_path, timeout_headroom=0) + + +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] diff --git a/tools/odin/tests/test_plan.py b/tools/odin/tests/test_plan.py index 0de6ce3456bf..3daa8beefe40 100644 --- a/tools/odin/tests/test_plan.py +++ b/tools/odin/tests/test_plan.py @@ -9,7 +9,7 @@ import pytest -from tools.odin.plan import PlanError, build_row_key, load_task_rows, plan_rows, uv_extras_for +from tools.odin.plan import PlanError, apply_metadata, build_row_key, load_task_rows, plan_rows, uv_extras_for # 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 @@ -123,3 +123,37 @@ def test_shipped_seed_list_plans_cleanly() -> None: rows = plan_rows(task_rows=load_task_rows(shipped), seeds=[42]) assert rows assert all(r.osmo_task_name for r in rows) + + +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 From 9d16256e4f09d3921eb0e8fead2788644718c948 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 13:06:42 +0200 Subject: [PATCH 12/33] Document OdinV2 Records the build, dispatch, harvest, status, and fetch flows, the on-disk layout, the four failure kinds, and the three known gaps: provisional result retrieval, the interim seed task list, and missing play-side video support upstream. --- tools/odin/README.md | 163 +++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 163 insertions(+) create mode 100644 tools/odin/README.md diff --git a/tools/odin/README.md b/tools/odin/README.md new file mode 100644 index 000000000000..4ad86e8321fc --- /dev/null +++ b/tools/odin/README.md @@ -0,0 +1,163 @@ +# 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 \ + --profile newton --profile isaacsim \ + --push +``` + +`--dry-run` writes the build context and prints the tag without invoking git +bundling or Docker — useful for inspecting the generated Dockerfile. + +Two profiles exist because `[tool.uv].conflicts` declares `isaacsim` +incompatible with `all`, `test`, `mimic`, `teleop`, `ovphysx`, and `viser`, so +one virtualenv cannot serve every backend: + +| Profile | Extras | Covers | +|---|---|---| +| `isaacsim` | `isaacsim, rsl-rl, skrl, rl-games, sb3` | `physics=physx`, `renderer=isaacsim_rtx` | +| `newton` | `rsl-rl, skrl, rl-games, sb3, rerun, ovrtx, ovphysx` | `newton_mjwarp`, `newton_kamino`, `ovphysx`, `renderer=newton`/`ovrtx` | + +Both warm the same `UV_CACHE_DIR`, so a task's `uv run --frozen --extra ...` +re-syncs from cache without touching the network. The dispatcher picks the +extras per row from that row's physics and renderer. + +Images are tagged `/:-`. Pass the +resolved **digest** to `dispatch`, not the tag, so a retag cannot change what a +comparison compared. + +## 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. + +## 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`, which is where these +values should eventually live. + +## 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 +``` + +## 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 + +- **Result retrieval is provisional.** OSMO datasets were retired. `results.py` + isolates publish and fetch behind one seam, currently implemented with + `osmo data upload` / `osmo data download` against a bucket URI. When the + replacement mechanism is settled, that is the only file to change. +- **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. +- **Play videos are not yet possible.** `PlayBundle.video_path` and + `builders.build_play_bundle(video_path=...)` exist upstream, but none of the + four play benchmark adapters has a `--video` flag or calls + `wrap_record_video`; the video CLI arguments live in `add_common_train_args` + and are training-only. That gap has to close upstream first. + +## 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`. From 715b4138a29672bbf9ea2ceaf96796e1dfcc0159 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 13:49:47 +0200 Subject: [PATCH 13/33] Fix uv profile selection for the real preset vocabulary MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Enumerating the registry showed the physics presets are physx (44), newton_mjwarp (45), ovphysx (32), newton_kamino (27), isaacsim_physx (10), newton_mjwarp_vbd (2), newton_mjwarp_vbd_proxy (1). isaacsim_physx is a distinct preset, not an alias of physx, and was falling through to the newton profile — which would have built a virtualenv without Isaac Sim and failed at run time. Also normalises the legacy aliases (newton, kamino, ovrtx_renderer, isaacsim_rtx_renderer) before profile selection. The separate 'rtx' renderer preset is left out deliberately: it is not confirmed to require Isaac Sim. --- tools/odin/plan.py | 27 ++++++++++++++++++++++----- tools/odin/tests/test_plan.py | 28 ++++++++++++++++++++++++++++ 2 files changed, 50 insertions(+), 5 deletions(-) diff --git a/tools/odin/plan.py b/tools/odin/plan.py index 83498373f523..4297b53f68fd 100644 --- a/tools/odin/plan.py +++ b/tools/odin/plan.py @@ -49,9 +49,23 @@ "sb3": "sb3", } -# Physics presets that require Isaac Sim in the virtualenv. -_ISAACSIM_PHYSICS = frozenset({"physx"}) -# Renderers that require Isaac Sim in the virtualenv. +# Legacy preset aliases, mirroring PresetTarget.all_legacy_aliases(). Normalised +# before profile selection so ``physics=newton`` and ``physics=newton_mjwarp`` +# resolve identically. +_PRESET_ALIASES: dict[str, str] = { + "newton": "newton_mjwarp", + "kamino": "newton_kamino", + "ovrtx_renderer": "ovrtx", + "isaacsim_rtx_renderer": "isaacsim_rtx", +} + +# Physics presets that require Isaac Sim in the virtualenv. Both ``physx`` and +# its explicit ``isaacsim_physx`` spelling are registered across the task tree; +# they are distinct preset names, not aliases of each other. +_ISAACSIM_PHYSICS = frozenset({"physx", "isaacsim_physx"}) +# Renderers that require Isaac Sim in the virtualenv. Note the separate ``rtx`` +# preset (5 tasks) is deliberately absent: it has not been confirmed to need +# Isaac Sim, and guessing wrong either breaks the venv or silently drops it. _ISAACSIM_RENDERERS = frozenset({"isaacsim_rtx"}) # Extras added alongside the RL library when Isaac Sim is required. Nothing from # [tool.uv].conflicts' isaacsim row (all, test, mimic, teleop, ovphysx, viser) @@ -138,12 +152,15 @@ def uv_extras_for(rl_library: str, physics: str, renderer: str | None) -> tuple[ if rl_library not in _RL_LIBRARY_EXTRAS: raise PlanError(f"unknown rl_library {rl_library!r}; expected one of {sorted(_RL_LIBRARY_EXTRAS)}") + physics = _PRESET_ALIASES.get(physics, physics) + renderer = _PRESET_ALIASES.get(renderer or "", renderer or "") + extras: list[str] = [_RL_LIBRARY_EXTRAS[rl_library]] - if physics in _ISAACSIM_PHYSICS or (renderer or "") in _ISAACSIM_RENDERERS: + if physics in _ISAACSIM_PHYSICS or renderer in _ISAACSIM_RENDERERS: extras.extend(_ISAACSIM_COMPANIONS) else: extras.extend(_NEWTON_COMPANIONS) - extras.extend(token for token in (physics, renderer or "") if token in _OV_TOKENS) + extras.extend(token for token in (physics, renderer) if token in _OV_TOKENS) return tuple(dict.fromkeys(extras)) diff --git a/tools/odin/tests/test_plan.py b/tools/odin/tests/test_plan.py index 3daa8beefe40..8933cb0d5a13 100644 --- a/tools/odin/tests/test_plan.py +++ b/tools/odin/tests/test_plan.py @@ -157,3 +157,31 @@ 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_isaacsim_physx_preset_selects_the_isaacsim_profile() -> None: + # 'isaacsim_physx' is a distinct registered preset (10 tasks), not an alias + # of 'physx'. Treating it as a newton row would build a venv without Isaac + # Sim and fail at runtime. + assert "isaacsim" in uv_extras_for("rsl_rl", "isaacsim_physx", None) + + +def test_legacy_newton_alias_resolves_like_its_target() -> None: + assert uv_extras_for("rsl_rl", "newton", None) == uv_extras_for("rsl_rl", "newton_mjwarp", None) + + +def test_legacy_kamino_alias_resolves_like_its_target() -> None: + assert uv_extras_for("rsl_rl", "kamino", None) == uv_extras_for("rsl_rl", "newton_kamino", None) + + +def test_legacy_renderer_aliases_resolve_like_their_targets() -> None: + assert uv_extras_for("rsl_rl", "newton_mjwarp", "ovrtx_renderer") == uv_extras_for( + "rsl_rl", "newton_mjwarp", "ovrtx" + ) + assert uv_extras_for("rsl_rl", "newton_mjwarp", "isaacsim_rtx_renderer") == uv_extras_for( + "rsl_rl", "newton_mjwarp", "isaacsim_rtx" + ) + + +def test_newton_kamino_stays_off_isaacsim() -> None: + assert "isaacsim" not in uv_extras_for("rsl_rl", "newton_kamino", None) From 73fea57ecaac0254ed03106cd3cad3093dbe3c9e Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 14:02:27 +0200 Subject: [PATCH 14/33] Publish results via OSMO outputs instead of a shell upload MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The previous publish path never worked. publish_command() emitted 'osmo data upload', but the image installs only ca-certificates, curl, git and uv — no osmo binary, no credentials. The deliberate '|| echo' that stops a failed upload masking the benchmark exit code would have swallowed 'command not found', so every row of a first real dispatch would have returned malformed_bundle. Publishing is now declarative: each task carries an 'outputs: - url:' block and OSMO uploads the output directory itself, after exec and regardless of exit code. No osmo binary and no storage credentials are needed in the container, a crashed run still returns what it produced, and the benchmark's verdict is structurally unmaskable. Validating a rendered workflow against the live service also caught 'pull_credential' being rejected outright; OSMO's task 'credentials:' block maps a credential name to the registry host. Pool and platform in the shipped config did not exist either. Adds a submit-time preflight — 'osmo data check -a WRITE' plus 'osmo workflow validate' on every chunk — so schema drift and bucket-mode changes fail before any GPU time is spent, rather than after. --- tools/odin/README.md | 22 ++++++++++++--- tools/odin/cli.py | 29 +++++++++++++++---- tools/odin/client.py | 40 +++++++++++++++++++++++++++ tools/odin/config/odin.yaml | 15 ++++++---- tools/odin/config_file.py | 9 ++++++ tools/odin/results.py | 36 +++++++++++++----------- tools/odin/templates/dispatch.yaml.j2 | 11 ++++++-- tools/odin/tests/test_client.py | 25 +++++++++++++++++ tools/odin/tests/test_config_file.py | 4 +++ tools/odin/tests/test_results.py | 28 +++++++++++-------- tools/odin/tests/test_workflow.py | 40 +++++++++++++++++---------- tools/odin/workflow.py | 14 +++------- 12 files changed, 205 insertions(+), 68 deletions(-) diff --git a/tools/odin/README.md b/tools/odin/README.md index 4ad86e8321fc..4e4d24a9b83e 100644 --- a/tools/odin/README.md +++ b/tools/odin/README.md @@ -118,6 +118,18 @@ odin_runs/ └── 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: @@ -134,10 +146,12 @@ drift cannot wedge the poll loop or be misread as a benchmark crash. ## Known gaps -- **Result retrieval is provisional.** OSMO datasets were retired. `results.py` - isolates publish and fetch behind one seam, currently implemented with - `osmo data upload` / `osmo data download` against a bucket URI. When the - replacement mechanism is settled, that is the only file to change. +- **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. - **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. diff --git a/tools/odin/cli.py b/tools/odin/cli.py index b2a89ed4601a..00ee9587872f 100644 --- a/tools/odin/cli.py +++ b/tools/odin/cli.py @@ -29,7 +29,7 @@ from tools.odin.image import DEFAULT_CUDA_IMAGE, PROFILES, ImageBuildError, build_image from tools.odin.plan import PlanError, PlannedRow, apply_metadata, chunk_rows, load_task_rows, plan_rows from tools.odin.poller import poll_until_terminal -from tools.odin.results import fetch_results, publish_command, validate_bundle +from tools.odin.results import dispatch_output_uri, fetch_results, validate_bundle from tools.odin.state import ( SCHEMA_VERSION, DispatchState, @@ -153,10 +153,7 @@ def command_dispatch(args: argparse.Namespace) -> int: rows=chunk, cfg=cfg, image_ref=image, - publish_commands={ - row.row_key: publish_command(base_uri=cfg.results_uri, dispatch_id=dispatch_id, row_key=row.row_key) - for row in chunk - }, + output_uri=dispatch_output_uri(cfg.results_uri, dispatch_id), ) path = dispatch_dir / f"workflow.{side}{chunk_index}.yaml" path.write_text(yaml_text) @@ -180,6 +177,23 @@ def _submit_and_poll( ) -> 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, access="WRITE"): + 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, @@ -320,6 +334,11 @@ def _build_parser() -> argparse.ArgumentParser: dispatch.add_argument("--poll-interval", type=float, default=15.0) dispatch.add_argument("--runs-root", type=Path, default=Path("./odin_runs")) dispatch.add_argument("--dry-run", action="store_true") + 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) diff --git a/tools/odin/client.py b/tools/odin/client.py index 1bd240286c63..f9b6d27b32a8 100644 --- a/tools/odin/client.py +++ b/tools/odin/client.py @@ -233,6 +233,46 @@ def _parse_status_table(stdout: str, workflow_id: str) -> WorkflowSnapshot: tasks.append(TaskSnapshot(name=name, status=status, exit_code=None)) return WorkflowSnapshot(workflow_id=workflow_id, status=wf_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, *, access: str = "WRITE") -> bool: + """Return whether the profile has *access* 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``. + access: Access mode to probe, e.g. ``WRITE`` or ``READ``. + + 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", access]) + 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. diff --git a/tools/odin/config/odin.yaml b/tools/odin/config/odin.yaml index 43050bc73435..76227ce09951 100644 --- a/tools/odin/config/odin.yaml +++ b/tools/odin/config/odin.yaml @@ -5,7 +5,7 @@ # OdinV2 dispatch configuration. osmo_profile: default -pool: isaac-dev-l40s-04 +pool: isaac-dev-l40-03 priority: NORMAL image: @@ -18,7 +18,7 @@ resources: gpu: 1 memory: 64Gi storage: 64Gi - platform: ovx-l40s + 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 @@ -33,9 +33,14 @@ queue_timeout_s: 172800 # Maximum tasks per submitted OSMO workflow. chunk_size: 25 -# Bucket URI prefix results are published under. OSMO datasets were retired; -# see tools/odin/results.py for the seam this feeds. -results_uri: s3://isaac-odin/results +# 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" diff --git a/tools/odin/config_file.py b/tools/odin/config_file.py index 329acdf14fc1..fe3fec2e2863 100644 --- a/tools/odin/config_file.py +++ b/tools/odin/config_file.py @@ -51,6 +51,15 @@ class ImageSpec: 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: diff --git a/tools/odin/results.py b/tools/odin/results.py index 48f2c4cabdc5..26b73c8a36a5 100644 --- a/tools/odin/results.py +++ b/tools/odin/results.py @@ -5,12 +5,18 @@ """Publish and fetch benchmark bundles. -OSMO datasets were retired, so this module is the seam that isolates whatever -replaces them. Nothing else in OdinV2 imports a storage concept, so swapping the -implementation here is a one-file change. - -The current implementation uses bucket URIs via ``osmo data upload`` and -``osmo data download``. +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 @@ -19,7 +25,7 @@ from pathlib import Path from typing import Protocol -__all__ = ["fetch_results", "publish_command", "results_uri_for", "validate_bundle"] +__all__ = ["dispatch_output_uri", "fetch_results", "results_uri_for", "validate_bundle"] # Upstream's SchemaBundleFile writes "_.json" into # --output_path, where output_prefix is "benchmark__". @@ -44,23 +50,21 @@ def results_uri_for(base_uri: str, dispatch_id: str, row_key: str) -> str: return f"{base_uri.rstrip('/')}/{dispatch_id}/{row_key}" -def publish_command(*, base_uri: str, dispatch_id: str, row_key: str) -> str: - """Return the shell snippet that uploads one row's output directory. +def dispatch_output_uri(base_uri: str, dispatch_id: str) -> str: + """Return the storage prefix an OSMO ``outputs:`` block uploads into. - The snippet tolerates its own failure: the benchmark's exit code is the - task's verdict, and an upload problem must be visible in the logs without - masking it. + 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. - row_key: Row identity. Returns: - A single-line shell command for splicing into the entry script. + ``//``, with a trailing slash. """ - uri = results_uri_for(base_uri, dispatch_id, row_key) - return f'osmo data upload "{uri}" "$OUT" || echo "=== odin: results upload failed ==="' + return f"{base_uri.rstrip('/')}/{dispatch_id}/" def validate_bundle(bundle_dir: Path) -> bool: diff --git a/tools/odin/templates/dispatch.yaml.j2 b/tools/odin/templates/dispatch.yaml.j2 index 2bff44ae6c71..966dd5c0f59b 100644 --- a/tools/odin/templates/dispatch.yaml.j2 +++ b/tools/odin/templates/dispatch.yaml.j2 @@ -21,7 +21,9 @@ workflow: - name: {{ row.osmo_task_name }} image: {{ image_ref }} {% if cfg.image.pull_credential %} - pull_credential: {{ cfg.image.pull_credential }} + # OSMO maps a credential name to the registry host it authenticates. + credentials: + {{ cfg.image.pull_credential }}: {{ cfg.image.registry_host }} {% endif %} environment: ACCEPT_EULA: "Y" @@ -44,8 +46,13 @@ workflow: set -e echo "=== odin: benchmark exit_code=$rc ===" find "$OUT" -type f | head -40 - {{ publish_commands[row.row_key] }} 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 %} diff --git a/tools/odin/tests/test_client.py b/tools/odin/tests/test_client.py index 9b91857cb2ee..b017d93e02b1 100644 --- a/tools/odin/tests/test_client.py +++ b/tools/odin/tests/test_client.py @@ -111,3 +111,28 @@ def test_dataset_helpers_are_gone() -> None: # OSMO datasets were retired; leaving these around would invite their use. assert not hasattr(OsmoClient, "dataset_download") assert not hasattr(OsmoClient, "dataset_delete") + + +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 index 0fe80bb376b2..0df4e011f727 100644 --- a/tools/odin/tests/test_config_file.py +++ b/tools/odin/tests/test_config_file.py @@ -102,3 +102,7 @@ def test_unreadable_path_is_reported(tmp_path: Path) -> None: 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_results.py b/tools/odin/tests/test_results.py index 5fd669bd754f..34f6705a04e9 100644 --- a/tools/odin/tests/test_results.py +++ b/tools/odin/tests/test_results.py @@ -8,7 +8,7 @@ import json from pathlib import Path -from tools.odin.results import fetch_results, publish_command, results_uri_for, validate_bundle +from tools.odin.results import dispatch_output_uri, fetch_results, results_uri_for, validate_bundle def _bundle(directory: Path, *, schema_version: str = "1.2", task: str = "Isaac-Ant") -> Path: @@ -30,18 +30,24 @@ def test_trailing_slash_in_base_uri_does_not_double_up() -> None: assert "//20260728" not in uri.removeprefix("s3://") -def test_publish_command_uploads_the_output_directory() -> None: - cmd = publish_command(base_uri="s3://b/results", dispatch_id="20260728-120000", row_key="row") - assert "osmo data upload" in cmd - assert "s3://b/results/20260728-120000/row" in cmd - assert '"$OUT"' in cmd +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_publish_command_does_not_abort_the_task_on_upload_failure() -> None: - # The benchmark exit code is the task's verdict; a failed upload must be - # visible in the logs without masking it. - cmd = publish_command(base_uri="s3://b/results", dispatch_id="d", row_key="row") - assert "||" in cmd +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_no_shell_publish_command_is_exported() -> None: + # Publishing is declarative now. A shell upload spliced into the entry + # script silently no-ops: the image has no osmo binary. + import tools.odin.results as results + + assert not hasattr(results, "publish_command") def test_valid_bundle_passes(tmp_path: Path) -> None: diff --git a/tools/odin/tests/test_workflow.py b/tools/odin/tests/test_workflow.py index ccb89d66121f..e548f650e3dc 100644 --- a/tools/odin/tests/test_workflow.py +++ b/tools/odin/tests/test_workflow.py @@ -7,7 +7,6 @@ import dataclasses -import pytest import yaml from tools.odin.config_file import ImageSpec, OdinConfig, ResourcesSpec, RetrySpec @@ -44,17 +43,17 @@ _IMAGE = "nvcr.io/nvidian/antoiner-isaac-lab@sha256:abc" -def _render(rows=(_ROW,), publish=None, chunk_index=0): - rows = list(rows) - if publish is None: - publish = {row.row_key: "echo published" for row in rows} +_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=rows, + rows=list(rows), cfg=_CFG, image_ref=_IMAGE, - publish_commands=publish, + output_uri=output_uri, ) @@ -84,8 +83,11 @@ def test_image_reference_is_the_digest_pinned_argument() -> None: assert _task(_render())["image"] == _IMAGE -def test_pull_credential_is_emitted_when_configured() -> None: - assert _task(_render())["pull_credential"] == "ngc_read_only" +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_timeouts_come_from_config() -> None: @@ -136,9 +138,14 @@ def test_renderer_selector_is_emitted_when_set() -> None: assert "renderer=isaacsim_rtx" in _script(_render(rows=(row,))) -def test_publish_command_is_spliced_in() -> None: - script = _script(_render(publish={_ROW.row_key: "osmo data upload s3://b/x $OUT"})) - assert "osmo data upload s3://b/x $OUT" in script +def test_task_declares_a_declarative_outputs_block() -> None: + # Publishing must not be a shell command in the entry script: the image has + # no osmo binary and no credentials, so it would silently no-op. + assert _task(_render())["outputs"] == [{"url": _OUTPUT_URI}] + + +def test_entry_script_contains_no_upload_command() -> None: + assert "osmo data upload" not in _script(_render()) def test_entry_script_preserves_the_benchmark_exit_code() -> None: @@ -161,9 +168,12 @@ def test_workflow_name_is_unique_per_chunk() -> None: assert first != second -def test_missing_publish_command_is_rejected() -> None: - with pytest.raises(KeyError, match=_ROW.row_key): - _render(publish={}) +def test_every_task_shares_the_dispatch_output_prefix() -> None: + # Each task writes into its own {{output}}//, so one shared prefix + # is correct and rows cannot collide. + second = dataclasses.replace(_ROW, row_key="other", osmo_task_name="other") + rendered = _render(rows=(_ROW, second)) + assert _task(rendered, 0)["outputs"] == _task(rendered, 1)["outputs"] def test_long_row_key_is_truncated_with_a_stable_hash() -> None: diff --git a/tools/odin/workflow.py b/tools/odin/workflow.py index 6ec4cc9c5cf2..779102136ab1 100644 --- a/tools/odin/workflow.py +++ b/tools/odin/workflow.py @@ -66,7 +66,7 @@ def render_workflow_yaml( rows: list[PlannedRow], cfg: OdinConfig, image_ref: str, - publish_commands: dict[str, str], + output_uri: str, ) -> str: """Render the OSMO workflow YAML for one dispatch chunk. @@ -76,18 +76,12 @@ def render_workflow_yaml( rows: Rows belonging to this chunk. cfg: Validated ``odin.yaml`` contents. image_ref: Digest-pinned image reference every task in this chunk runs. - publish_commands: Shell snippet per ``row_key``, spliced into the entry - script after the benchmark call. + 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. - - Raises: - KeyError: If a row has no entry in *publish_commands*. """ - missing = [row.row_key for row in rows if row.row_key not in publish_commands] - if missing: - raise KeyError(f"publish_commands is missing entries for: {missing}") env = Environment( loader=FileSystemLoader(str(_TEMPLATES_DIR)), undefined=StrictUndefined, @@ -99,5 +93,5 @@ def render_workflow_yaml( rows=rows, cfg=cfg, image_ref=image_ref, - publish_commands=publish_commands, + output_uri=output_uri, ) From 40536d0c75398e419512ea621b2bfe7e138402ce Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 14:16:32 +0200 Subject: [PATCH 15/33] Select uv extras by profile, not by preset name MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit A preset token does not determine the physics backend. Measured across every task that declares them: physics=physx resolves to kitless OvPhysX on 39 tasks and to Kit PhysX on 5, while isaacsim_physx resolves to Kit PhysX on all 10. Extras were being chosen from the token, so all three physx rows in the seed list would have been given --extra isaacsim when they actually need ovphysx — and uv refuses to install both. Profiles are now full installs of everything that co-resolves within them, so a row picks a profile rather than reasoning about extras. The two-way split is forced by a dependency clash, not by preference: isaacsim-core pins packaging==26.0 and ovphysx pins packaging<24, so a single virtualenv holding both is unresolvable. Renames the newton profile to kitless, since it covers OvPhysX and OVRTX as well. Makes physics optional: 35 of the 87 usable tasks declare no physics preset and hard-fail on any physics= token, and the template emitted one unconditionally. Rows carry their profile explicitly, defaulting to kitless. Resolving it per task belongs to task discovery. --- tools/odin/README.md | 27 +++++-- tools/odin/cli.py | 4 +- tools/odin/config/tasks.yaml | 5 ++ tools/odin/image.py | 17 ++-- tools/odin/plan.py | 108 ++++++++++---------------- tools/odin/templates/dispatch.yaml.j2 | 2 +- tools/odin/tests/test_chunking.py | 1 + tools/odin/tests/test_cli.py | 2 +- tools/odin/tests/test_image.py | 28 ++++--- tools/odin/tests/test_plan.py | 91 ++++++++++------------ tools/odin/tests/test_workflow.py | 1 + 11 files changed, 143 insertions(+), 143 deletions(-) diff --git a/tools/odin/README.md b/tools/odin/README.md index 4e4d24a9b83e..f3c9e257b44e 100644 --- a/tools/odin/README.md +++ b/tools/odin/README.md @@ -29,25 +29,36 @@ tested with the changed dependency. uv run python -m tools.odin.cli build-image \ --config tools/odin/config/odin.yaml \ --ref \ - --profile newton --profile isaacsim \ + --profile kitless --profile isaacsim \ --push ``` `--dry-run` writes the build context and prints the tag without invoking git bundling or Docker — useful for inspecting the generated Dockerfile. -Two profiles exist because `[tool.uv].conflicts` declares `isaacsim` -incompatible with `all`, `test`, `mimic`, `teleop`, `ovphysx`, and `viser`, so -one virtualenv cannot serve every backend: +Two profiles, each a full install: | Profile | Extras | Covers | |---|---|---| -| `isaacsim` | `isaacsim, rsl-rl, skrl, rl-games, sb3` | `physics=physx`, `renderer=isaacsim_rtx` | -| `newton` | `rsl-rl, skrl, rl-games, sb3, rerun, ovrtx, ovphysx` | `newton_mjwarp`, `newton_kamino`, `ovphysx`, `renderer=newton`/`ovrtx` | +| `kitless` (default) | `rsl-rl, skrl, rl-games, sb3, rerun, ovrtx, ovphysx` | Newton, OvPhysX, OVRTX | +| `isaacsim` | `isaacsim, rsl-rl, skrl, rl-games, sb3, rerun` | Kit PhysX, Isaac Sim RTX | + +Each profile is a **full install** of everything that co-resolves within it, so +a row never reasons about individual extras — it just picks a profile. + +The split is forced, not a design choice: `isaacsim-core==6.0.0.1` requires +`packaging==26.0` while `ovphysx==0.5.9` requires `packaging>=20,<24`, so one +virtualenv cannot hold both. + +**A row's profile is not derivable from its physics token.** `physics=physx` +resolves to kitless OvPhysX on 39 tasks and to Kit PhysX on 5; +`physics=isaacsim_physx` resolves to Kit PhysX on all 10 that declare it. Only +loading the env cfg settles it, which is task discovery's job. Rows carry +`profile` explicitly and default to `kitless`. Both warm the same `UV_CACHE_DIR`, so a task's `uv run --frozen --extra ...` -re-syncs from cache without touching the network. The dispatcher picks the -extras per row from that row's physics and renderer. +re-syncs from cache without touching the network. `build-image` bakes both +profiles by default. Images are tagged `/:-`. Pass the resolved **digest** to `dispatch`, not the tag, so a retag cannot change what a diff --git a/tools/odin/cli.py b/tools/odin/cli.py index 00ee9587872f..01fba72afd88 100644 --- a/tools/odin/cli.py +++ b/tools/odin/cli.py @@ -96,7 +96,7 @@ def _job_from_row(row: PlannedRow, *, side: str, image_ref: str) -> JobEntry: def command_build_image(args: argparse.Namespace) -> int: """Build, and optionally push, a commit-pinned benchmark image.""" cfg = load_odin_config(args.config) - profiles = args.profile or ["newton"] + profiles = args.profile or ["kitless", "isaacsim"] tag = build_image( spec=cfg.image, ref=args.ref, @@ -308,7 +308,7 @@ def _build_parser() -> argparse.ArgumentParser: action="append", choices=sorted(PROFILES), default=None, - help="uv extras profile to warm; repeatable. Defaults to 'newton'.", + help="uv extras profile to warm; repeatable. Defaults to both.", ) build.add_argument("--cuda-image", type=str, default=DEFAULT_CUDA_IMAGE) build.add_argument("--context-dir", type=Path, default=Path("./.odin-build")) diff --git a/tools/odin/config/tasks.yaml b/tools/odin/config/tasks.yaml index 9261f9fa0ca3..56ca898a38fe 100644 --- a/tools/odin/config/tasks.yaml +++ b/tools/odin/config/tasks.yaml @@ -13,6 +13,11 @@ # the returned bundles and written to `task_metadata.yaml`, which later # dispatches read as an overlay on this file. # +# `profile` selects the uv virtualenv: `kitless` (default) or `isaacsim`. It is +# NOT derivable from the physics token -- `physics=physx` resolves to kitless +# OvPhysX on 39 tasks and to Kit PhysX on 5, and only loading the env cfg +# settles it. Every task below resolves kitless, so none sets it explicitly. +# # This file is replaced wholesale once the upstream task-discovery API lands. tasks: - task_id: Isaac-Cartpole-Direct diff --git a/tools/odin/image.py b/tools/odin/image.py index ba75670b9893..3f44a0eb4558 100644 --- a/tools/odin/image.py +++ b/tools/odin/image.py @@ -31,12 +31,19 @@ "resolve_ref", ] -# uv extras per profile. ``[tool.uv].conflicts`` declares ``isaacsim`` -# incompatible with all, test, mimic, teleop, ovphysx, and viser, so the isaacsim -# profile selects RL libraries individually and never through ``all``. +# uv extras per profile. Each profile is a *full* install of everything that +# co-resolves within it, so a task never has to reason about which extras a +# particular workload needs. +# +# Two profiles rather than one because a single venv holding everything is +# impossible: ``uv`` rejects ``--extra isaacsim --extra ovphysx`` outright with +# "Extras `isaacsim` and `ovphysx` are incompatible with the declared +# conflicts". The split is exactly Kit vs kitless. PROFILES: dict[str, tuple[str, ...]] = { - "isaacsim": ("isaacsim", "rsl-rl", "skrl", "rl-games", "sb3"), - "newton": ("rsl-rl", "skrl", "rl-games", "sb3", "rerun", "ovrtx", "ovphysx"), + # Everything that co-resolves with Isaac Sim. + "isaacsim": ("isaacsim", "rsl-rl", "skrl", "rl-games", "sb3", "rerun"), + # Everything that co-resolves without it. Covers Newton, OvPhysX, and OVRTX. + "kitless": ("rsl-rl", "skrl", "rl-games", "sb3", "rerun", "ovrtx", "ovphysx"), } # x86_64 resolves torch from the cu128 index (see [tool.uv.sources] in diff --git a/tools/odin/plan.py b/tools/odin/plan.py index 4297b53f68fd..8d36d79eb554 100644 --- a/tools/odin/plan.py +++ b/tools/odin/plan.py @@ -34,49 +34,34 @@ "chunk_rows", "load_task_rows", "plan_rows", - "uv_extras_for", + "uv_extras_for_profile", ] # Sizing fields a harvested metadata entry may contribute to a seed entry. _OVERLAY_FIELDS = ("num_envs", "max_iterations", "timeout_s") -# pyproject extra names differ from the --rl_library token: underscores in the -# CLI token, hyphens in the extra. -_RL_LIBRARY_EXTRAS: dict[str, str] = { - "rsl_rl": "rsl-rl", - "rl_games": "rl-games", - "skrl": "skrl", - "sb3": "sb3", +# Each profile is a full install of everything that co-resolves within it, so a +# row never reasons about individual extras. Mirrors image.PROFILES; kept here +# rather than imported to keep plan.py free of the image-build layer. +# +# The split is Kit vs kitless, not "physx vs newton". A preset token does NOT +# determine the backend: `physics=physx` resolves to kitless OvPhysX on 39 tasks +# and to Kit PhysX on 5, and `isaacsim_physx` resolves to Kit PhysX on all 10 +# that declare it. Only loading the env cfg settles it, which is task-discovery's +# job -- so a row carries its profile rather than having it guessed from a name. +PROFILE_EXTRAS: dict[str, tuple[str, ...]] = { + "isaacsim": ("isaacsim", "rsl-rl", "skrl", "rl-games", "sb3", "rerun"), + "kitless": ("rsl-rl", "skrl", "rl-games", "sb3", "rerun", "ovrtx", "ovphysx"), } -# Legacy preset aliases, mirroring PresetTarget.all_legacy_aliases(). Normalised -# before profile selection so ``physics=newton`` and ``physics=newton_mjwarp`` -# resolve identically. -_PRESET_ALIASES: dict[str, str] = { - "newton": "newton_mjwarp", - "kamino": "newton_kamino", - "ovrtx_renderer": "ovrtx", - "isaacsim_rtx_renderer": "isaacsim_rtx", -} +# Kitless covers Newton, OvPhysX and OVRTX, which is the large majority of rows. +DEFAULT_PROFILE = "kitless" + +_RL_LIBRARIES = frozenset({"rsl_rl", "rl_games", "skrl", "sb3"}) -# Physics presets that require Isaac Sim in the virtualenv. Both ``physx`` and -# its explicit ``isaacsim_physx`` spelling are registered across the task tree; -# they are distinct preset names, not aliases of each other. -_ISAACSIM_PHYSICS = frozenset({"physx", "isaacsim_physx"}) -# Renderers that require Isaac Sim in the virtualenv. Note the separate ``rtx`` -# preset (5 tasks) is deliberately absent: it has not been confirmed to need -# Isaac Sim, and guessing wrong either breaks the venv or silently drops it. -_ISAACSIM_RENDERERS = frozenset({"isaacsim_rtx"}) -# Extras added alongside the RL library when Isaac Sim is required. Nothing from -# [tool.uv].conflicts' isaacsim row (all, test, mimic, teleop, ovphysx, viser) -# may ever join this set. -_ISAACSIM_COMPANIONS: tuple[str, ...] = ("isaacsim",) -# Extras added when Isaac Sim is not required. -_NEWTON_COMPANIONS: tuple[str, ...] = ("rerun",) -# Omniverse tokens that are only resolvable outside the isaacsim fork. -_OV_TOKENS = frozenset({"ovphysx", "ovrtx"}) - -_REQUIRED_FIELDS = ("task_id", "rl_library", "physics") +# ``physics`` is deliberately absent: 35 of the 87 usable tasks declare no +# physics preset at all and hard-fail on any ``physics=`` token. +_REQUIRED_FIELDS = ("task_id", "rl_library") class PlanError(ValueError): @@ -91,7 +76,8 @@ class PlannedRow: 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=``. + 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. seed: Environment seed. num_envs: Parallel environment count, or ``None`` to use the task's @@ -101,23 +87,25 @@ class PlannedRow: 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. + profile: uv profile the row runs under, ``isaacsim`` or ``kitless``. osmo_task_name: DNS-1123-safe OSMO task name derived from *row_key*. """ row_key: str task_id: str rl_library: str - physics: str + physics: str | None renderer: str | None seed: int num_envs: int | None max_iterations: int | None timeout_s: int | None uv_extras: tuple[str, ...] + profile: str osmo_task_name: str -def build_row_key(rl_library: str, physics: str, task_id: str, seed: int) -> str: +def build_row_key(rl_library: str, physics: str | None, task_id: str, seed: int) -> str: """Return the deterministic identity for one row. Args: @@ -129,39 +117,24 @@ def build_row_key(rl_library: str, physics: str, task_id: str, seed: int) -> str Returns: ``{rl_library}_{physics}_{task_id}_seed{seed}``. """ - return f"{rl_library}_{physics}_{task_id}_seed{seed}" + return f"{rl_library}_{physics or 'default'}_{task_id}_seed{seed}" -def uv_extras_for(rl_library: str, physics: str, renderer: str | None) -> tuple[str, ...]: - """Return the ``uv`` extras needed to run one row. - - Isaac Sim conflicts with the ``all`` aggregate under ``[tool.uv].conflicts``, - so RL-library extras are always selected individually rather than via ``all``. +def uv_extras_for_profile(profile: str) -> tuple[str, ...]: + """Return the full extras set for a uv profile. Args: - rl_library: RL library token, e.g. ``rsl_rl``. - physics: Physics preset token, e.g. ``physx``. - renderer: Renderer preset token, or ``None``. + profile: ``isaacsim`` or ``kitless``. Returns: - Extras in a stable, de-duplicated order, suitable for ``--extra`` flags. + Every extra baked into that profile's virtualenv. Raises: - PlanError: If *rl_library* is not a known library. + PlanError: If *profile* is not a known profile. """ - if rl_library not in _RL_LIBRARY_EXTRAS: - raise PlanError(f"unknown rl_library {rl_library!r}; expected one of {sorted(_RL_LIBRARY_EXTRAS)}") - - physics = _PRESET_ALIASES.get(physics, physics) - renderer = _PRESET_ALIASES.get(renderer or "", renderer or "") - - extras: list[str] = [_RL_LIBRARY_EXTRAS[rl_library]] - if physics in _ISAACSIM_PHYSICS or renderer in _ISAACSIM_RENDERERS: - extras.extend(_ISAACSIM_COMPANIONS) - else: - extras.extend(_NEWTON_COMPANIONS) - extras.extend(token for token in (physics, renderer) if token in _OV_TOKENS) - return tuple(dict.fromkeys(extras)) + if profile not in PROFILE_EXTRAS: + raise PlanError(f"unknown profile {profile!r}; expected one of {sorted(PROFILE_EXTRAS)}") + return PROFILE_EXTRAS[profile] def load_task_rows(path: Path) -> list[dict[str, Any]]: @@ -224,7 +197,7 @@ def _sort_key(row: PlannedRow) -> tuple[int, str, str, int]: Rows without a harvested budget sort after budgeted ones so a chunk does not mix a known-short task with an unknown-length one. """ - return (row.timeout_s if row.timeout_s is not None else 2**31 - 1, row.task_id, row.physics, row.seed) + return (row.timeout_s if row.timeout_s is not None else 2**31 - 1, row.task_id, row.physics or "", row.seed) def plan_rows( @@ -260,9 +233,13 @@ def plan_rows( raise PlanError(f"task {task_id!r} is missing required field {field_name!r}") rl_library = str(entry["rl_library"]) - physics = str(entry["physics"]) + 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") - extras = uv_extras_for(rl_library, physics, renderer) + profile = str(entry.get("profile") or DEFAULT_PROFILE) + extras = uv_extras_for_profile(profile) for seed in seeds: row_key = build_row_key(rl_library, physics, task_id, seed) @@ -281,6 +258,7 @@ def plan_rows( max_iterations=_optional_int(entry.get("max_iterations")), timeout_s=_optional_int(entry.get("timeout_s")), uv_extras=extras, + profile=profile, osmo_task_name=osmo_safe_task_name(row_key), ) ) diff --git a/tools/odin/templates/dispatch.yaml.j2 b/tools/odin/templates/dispatch.yaml.j2 index 966dd5c0f59b..5d7bb73bd541 100644 --- a/tools/odin/templates/dispatch.yaml.j2 +++ b/tools/odin/templates/dispatch.yaml.j2 @@ -40,7 +40,7 @@ workflow: 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 "$OUT" --benchmark_formatter schema physics={{ row.physics }}{% if row.renderer %} renderer={{ row.renderer }}{% endif %} + uv run --frozen {% for extra in row.uv_extras %}--extra {{ extra }} {% endfor %}isaaclab benchmark training --rl_library {{ row.rl_library }} --task {{ row.task_id }} --seed {{ row.seed }}{% if row.num_envs is not none %} --num_envs {{ row.num_envs }}{% endif %}{% if row.max_iterations is not none %} --max_iterations {{ row.max_iterations }}{% endif %} --output_path "$OUT" --benchmark_formatter schema{% if row.physics %} physics={{ row.physics }}{% endif %}{% if row.renderer %} renderer={{ row.renderer }}{% endif %} rc=$? set -e diff --git a/tools/odin/tests/test_chunking.py b/tools/odin/tests/test_chunking.py index 4835c6e4ab0f..5775f02a1d90 100644 --- a/tools/odin/tests/test_chunking.py +++ b/tools/odin/tests/test_chunking.py @@ -22,6 +22,7 @@ def _row(key: str, timeout_s: int | None) -> PlannedRow: max_iterations=None, timeout_s=timeout_s, uv_extras=("rsl-rl", "isaacsim"), + profile="isaacsim", osmo_task_name=key.lower(), ) diff --git a/tools/odin/tests/test_cli.py b/tools/odin/tests/test_cli.py index 644af9a437ec..253dd23789f7 100644 --- a/tools/odin/tests/test_cli.py +++ b/tools/odin/tests/test_cli.py @@ -161,7 +161,7 @@ def test_build_image_dry_run_writes_a_dockerfile(workspace: Path, tmp_path: Path "--ref", "HEAD", "--profile", - "newton", + "kitless", "--context-dir", str(tmp_path / "ctx"), "--dry-run", diff --git a/tools/odin/tests/test_image.py b/tools/odin/tests/test_image.py index 8dcdebf2526a..522b5c9c703d 100644 --- a/tools/odin/tests/test_image.py +++ b/tools/odin/tests/test_image.py @@ -71,7 +71,7 @@ def test_resolve_ref_rejects_an_unknown_ref(tmp_path: Path) -> None: def test_dockerfile_clones_from_the_bundle_and_verifies_the_sha() -> None: - text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1-runtime-ubuntu24.04", profiles=["newton"]) + text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1-runtime-ubuntu24.04", profiles=["kitless"]) assert "FROM nvidia/cuda:12.8.1-runtime-ubuntu24.04" in text assert "isaaclab.bundle" in text assert f"git clone --branch {BUNDLE_REF}" in text @@ -79,13 +79,13 @@ def test_dockerfile_clones_from_the_bundle_and_verifies_the_sha() -> None: def test_dockerfile_syncs_once_per_profile() -> None: - text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["isaacsim", "newton"]) + text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["isaacsim", "kitless"]) assert text.count("RUN uv sync") == 2 def test_dockerfile_pins_the_lockfile_on_sync() -> None: # Without --frozen a stale local uv could re-resolve and defeat the pinning. - text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["newton"]) + text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["kitless"]) assert "uv sync --frozen" in text @@ -108,12 +108,12 @@ def test_dry_run_writes_the_context_but_invokes_no_docker(tmp_path: Path) -> Non spec=_SPEC, ref="HEAD", repo_root=tmp_path, - profiles=["newton"], + profiles=["kitless"], context_dir=tmp_path / "ctx", dry_run=True, run=fake, ) - assert tag.endswith(":abcdef1-newton") + assert tag.endswith(":abcdef1-kitless") assert (tmp_path / "ctx" / "Dockerfile").exists() assert not fake.ran("docker") assert not fake.ran("git", "bundle") @@ -121,7 +121,9 @@ def test_dry_run_writes_the_context_but_invokes_no_docker(tmp_path: Path) -> Non 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, profiles=["newton"], context_dir=tmp_path / "ctx", run=fake) + build_image( + spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["kitless"], 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") @@ -129,7 +131,9 @@ def test_build_bundles_one_ref_and_invokes_docker_build(tmp_path: Path) -> None: def test_temp_ref_is_deleted_after_bundling(tmp_path: Path) -> None: fake = _FakeRun() - build_image(spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["newton"], context_dir=tmp_path / "ctx", run=fake) + build_image( + spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["kitless"], context_dir=tmp_path / "ctx", run=fake + ) assert fake.ran("git", "update-ref", "-d", f"refs/heads/{BUNDLE_REF}") @@ -137,14 +141,16 @@ 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, profiles=["newton"], context_dir=tmp_path / "ctx", run=fake + spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["kitless"], 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, profiles=["newton"], context_dir=tmp_path / "ctx", run=fake) + build_image( + spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["kitless"], context_dir=tmp_path / "ctx", run=fake + ) assert not fake.ran("docker", "push") @@ -154,7 +160,7 @@ def test_push_runs_when_requested(tmp_path: Path) -> None: spec=_SPEC, ref="HEAD", repo_root=tmp_path, - profiles=["newton"], + profiles=["kitless"], context_dir=tmp_path / "ctx", push=True, run=fake, @@ -166,5 +172,5 @@ def test_failed_docker_build_raises(tmp_path: Path) -> None: fake = _FakeRun({"docker build": _cp(returncode=1, stderr="no space left on device")}) with pytest.raises(ImageBuildError, match="no space left"): build_image( - spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["newton"], context_dir=tmp_path / "ctx", run=fake + spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["kitless"], context_dir=tmp_path / "ctx", run=fake ) diff --git a/tools/odin/tests/test_plan.py b/tools/odin/tests/test_plan.py index 8933cb0d5a13..ea59d37510af 100644 --- a/tools/odin/tests/test_plan.py +++ b/tools/odin/tests/test_plan.py @@ -9,7 +9,14 @@ import pytest -from tools.odin.plan import PlanError, apply_metadata, build_row_key, load_task_rows, plan_rows, uv_extras_for +from tools.odin.plan import ( + PlanError, + apply_metadata, + build_row_key, + load_task_rows, + plan_rows, + uv_extras_for_profile, +) # 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 @@ -25,38 +32,42 @@ 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_physx_selects_the_isaacsim_extras_profile() -> None: - extras = uv_extras_for("rsl_rl", "physx", None) - assert "isaacsim" in extras - assert "rsl-rl" in extras - # [tool.uv].conflicts declares isaacsim incompatible with 'all' (which - # aggregates mimic), so selecting it would make the venv unresolvable. - assert "all" not in extras - assert "mimic" not in extras +def test_kitless_profile_is_a_full_install_without_isaac_sim() -> None: + extras = uv_extras_for_profile("kitless") + assert "isaacsim" not in extras + for expected in ("rsl-rl", "skrl", "rl-games", "sb3", "ovphysx", "ovrtx", "rerun"): + assert expected in extras -def test_isaacsim_rtx_renderer_forces_the_isaacsim_profile() -> None: - assert "isaacsim" in uv_extras_for("rsl_rl", "newton_mjwarp", "isaacsim_rtx") +def test_isaacsim_profile_is_a_full_install_with_isaac_sim() -> None: + extras = uv_extras_for_profile("isaacsim") + assert "isaacsim" in extras + for expected in ("rsl-rl", "skrl", "rl-games", "sb3"): + assert expected in extras -def test_newton_backend_avoids_isaacsim() -> None: - extras = uv_extras_for("skrl", "newton_mjwarp", None) - assert "isaacsim" not in extras - assert "skrl" in extras +def test_the_two_profiles_never_share_a_venv() -> None: + # isaacsim-core pins packaging==26.0 while ovphysx pins packaging<24, so a + # single virtualenv holding both is unresolvable. The split is forced. + assert "ovphysx" not in uv_extras_for_profile("isaacsim") -def test_ovphysx_never_shares_a_venv_with_isaacsim() -> None: - extras = uv_extras_for("rsl_rl", "ovphysx", None) - assert "isaacsim" not in extras - assert "ovphysx" in extras +def test_unknown_profile_is_rejected() -> None: + with pytest.raises(PlanError, match="quantum"): + uv_extras_for_profile("quantum") -def test_ovrtx_renderer_pulls_its_extra() -> None: - assert "ovrtx" in uv_extras_for("rsl_rl", "newton_mjwarp", "ovrtx") +def test_rows_default_to_the_kitless_profile() -> None: + # physics=physx resolves to kitless OvPhysX on 39 of the 44 tasks that + # declare it, so kitless is the right default. + assert plan_rows(task_rows=_ROWS, seeds=[42])[0].profile == "kitless" -def test_rl_library_extra_uses_the_hyphenated_pyproject_name() -> None: - assert "rl-games" in uv_extras_for("rl_games", "newton_mjwarp", None) +def test_row_can_request_the_isaacsim_profile() -> None: + entry = dict(_ROWS[0], profile="isaacsim") + row = plan_rows(task_rows=[entry], seeds=[42])[0] + assert row.profile == "isaacsim" + assert "isaacsim" in row.uv_extras def test_rows_expand_across_seeds() -> None: @@ -103,7 +114,7 @@ def test_duplicate_row_keys_are_rejected() -> None: def test_missing_field_names_the_task() -> None: with pytest.raises(PlanError, match="Isaac-Ant"): - plan_rows(task_rows=[{"task_id": "Isaac-Ant", "rl_library": "rsl_rl"}], seeds=[42]) + plan_rows(task_rows=[{"task_id": "Isaac-Ant"}], seeds=[42]) def test_unknown_rl_library_is_rejected() -> None: @@ -159,29 +170,9 @@ def test_metadata_matches_on_physics_too() -> None: assert apply_metadata(_ROWS, metadata)[0].get("num_envs") is None -def test_isaacsim_physx_preset_selects_the_isaacsim_profile() -> None: - # 'isaacsim_physx' is a distinct registered preset (10 tasks), not an alias - # of 'physx'. Treating it as a newton row would build a venv without Isaac - # Sim and fail at runtime. - assert "isaacsim" in uv_extras_for("rsl_rl", "isaacsim_physx", None) - - -def test_legacy_newton_alias_resolves_like_its_target() -> None: - assert uv_extras_for("rsl_rl", "newton", None) == uv_extras_for("rsl_rl", "newton_mjwarp", None) - - -def test_legacy_kamino_alias_resolves_like_its_target() -> None: - assert uv_extras_for("rsl_rl", "kamino", None) == uv_extras_for("rsl_rl", "newton_kamino", None) - - -def test_legacy_renderer_aliases_resolve_like_their_targets() -> None: - assert uv_extras_for("rsl_rl", "newton_mjwarp", "ovrtx_renderer") == uv_extras_for( - "rsl_rl", "newton_mjwarp", "ovrtx" - ) - assert uv_extras_for("rsl_rl", "newton_mjwarp", "isaacsim_rtx_renderer") == uv_extras_for( - "rsl_rl", "newton_mjwarp", "isaacsim_rtx" - ) - - -def test_newton_kamino_stays_off_isaacsim() -> None: - assert "isaacsim" not in uv_extras_for("rsl_rl", "newton_kamino", None) +def test_task_without_a_physics_preset_is_planned() -> None: + # 35 of the 87 usable 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" diff --git a/tools/odin/tests/test_workflow.py b/tools/odin/tests/test_workflow.py index e548f650e3dc..f740af8b8d9c 100644 --- a/tools/odin/tests/test_workflow.py +++ b/tools/odin/tests/test_workflow.py @@ -37,6 +37,7 @@ max_iterations=None, timeout_s=None, uv_extras=("rsl-rl", "isaacsim"), + profile="isaacsim", osmo_task_name="rsl-rl-physx-isaac-ant-seed42", ) From c36d4622bbfbeb74134c40603c50e4d96a88a4d6 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 14:26:19 +0200 Subject: [PATCH 16/33] Widen the packaging cap so OvPhysX and Isaac Sim co-resolve MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit ovphysx 0.5.9 caps packaging at <24 in its own wheel metadata while isaacsim-core 6.0.0.1 pins ==26.0, which made the two extras impossible to install together and forced [tool.uv].conflicts to declare them incompatible. Both caps are stricter than the code needs. A packaging>=20,<27 override collapses the forked resolution onto 26.0, so the isaacsim/ovphysx conflict entry is no longer required. teleop, viser, mimic, test and the 'all' aggregate still conflict and stay. For OdinV2 this removes a whole class of failure. Its two profiles existed only because of this clash, and picking between them required resolving each row's physics preset to a Kit or kitless runtime — which a preset token does not determine (physics=physx resolves to OvPhysX on 39 tasks and to Kit PhysX on 5). One 'full' profile removes the routing problem entirely. Lockfile regenerated with uv 0.12.0; it also picks up the workspace version bumps the nightly changelog commit left unlocked. --- pyproject.toml | 10 +- tools/odin/README.md | 32 +- tools/odin/cli.py | 4 +- tools/odin/config/tasks.yaml | 7 +- tools/odin/image.py | 22 +- tools/odin/plan.py | 20 +- tools/odin/tests/test_cli.py | 2 +- tools/odin/tests/test_image.py | 47 +- tools/odin/tests/test_plan.py | 39 +- uv.lock | 863 ++++++++++++++++----------------- 10 files changed, 488 insertions(+), 558 deletions(-) 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/tools/odin/README.md b/tools/odin/README.md index f3c9e257b44e..ebfac340d90f 100644 --- a/tools/odin/README.md +++ b/tools/odin/README.md @@ -29,36 +29,32 @@ tested with the changed dependency. uv run python -m tools.odin.cli build-image \ --config tools/odin/config/odin.yaml \ --ref \ - --profile kitless --profile isaacsim \ + --profile full \ --push ``` `--dry-run` writes the build context and prints the tag without invoking git bundling or Docker — useful for inspecting the generated Dockerfile. -Two profiles, each a full install: +One profile, `full`, holding every backend: | Profile | Extras | Covers | |---|---|---| -| `kitless` (default) | `rsl-rl, skrl, rl-games, sb3, rerun, ovrtx, ovphysx` | Newton, OvPhysX, OVRTX | -| `isaacsim` | `isaacsim, rsl-rl, skrl, rl-games, sb3, rerun` | Kit PhysX, Isaac Sim RTX | +| `full` | `isaacsim, ovphysx, ovrtx, rsl-rl, skrl, rl-games, sb3, rerun` | Kit PhysX, OvPhysX, Newton, OVRTX, all four RL libraries | -Each profile is a **full install** of everything that co-resolves within it, so -a row never reasons about individual extras — it just picks a profile. +A single virtualenv became possible once the root `pyproject.toml` widened the +`packaging` cap to `<27`: `ovphysx` capped it at `<24` while `isaacsim-core` +pinned `==26.0`, which had made the two extras unresolvable together. `teleop`, +`viser`, `mimic`, `test` and the `all` aggregate still conflict with `isaacsim` +and are excluded. -The split is forced, not a design choice: `isaacsim-core==6.0.0.1` requires -`packaging==26.0` while `ovphysx==0.5.9` requires `packaging>=20,<24`, so one -virtualenv cannot hold both. +This matters beyond convenience. A preset token does **not** determine the +physics backend — `physics=physx` resolves to OvPhysX on 39 tasks and to Kit +PhysX on 5 — so with split profiles a row could only be routed correctly by +loading its env cfg first. One profile removes that dependency entirely. -**A row's profile is not derivable from its physics token.** `physics=physx` -resolves to kitless OvPhysX on 39 tasks and to Kit PhysX on 5; -`physics=isaacsim_physx` resolves to Kit PhysX on all 10 that declare it. Only -loading the env cfg settles it, which is task discovery's job. Rows carry -`profile` explicitly and default to `kitless`. - -Both warm the same `UV_CACHE_DIR`, so a task's `uv run --frozen --extra ...` -re-syncs from cache without touching the network. `build-image` bakes both -profiles by default. +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 diff --git a/tools/odin/cli.py b/tools/odin/cli.py index 01fba72afd88..0b69bf36d8db 100644 --- a/tools/odin/cli.py +++ b/tools/odin/cli.py @@ -96,7 +96,7 @@ def _job_from_row(row: PlannedRow, *, side: str, image_ref: str) -> JobEntry: def command_build_image(args: argparse.Namespace) -> int: """Build, and optionally push, a commit-pinned benchmark image.""" cfg = load_odin_config(args.config) - profiles = args.profile or ["kitless", "isaacsim"] + profiles = args.profile or ["full"] tag = build_image( spec=cfg.image, ref=args.ref, @@ -308,7 +308,7 @@ def _build_parser() -> argparse.ArgumentParser: action="append", choices=sorted(PROFILES), default=None, - help="uv extras profile to warm; repeatable. Defaults to both.", + help="uv extras profile to warm; repeatable. Defaults to 'full'.", ) build.add_argument("--cuda-image", type=str, default=DEFAULT_CUDA_IMAGE) build.add_argument("--context-dir", type=Path, default=Path("./.odin-build")) diff --git a/tools/odin/config/tasks.yaml b/tools/odin/config/tasks.yaml index 56ca898a38fe..5b9d75ee330f 100644 --- a/tools/odin/config/tasks.yaml +++ b/tools/odin/config/tasks.yaml @@ -13,10 +13,9 @@ # the returned bundles and written to `task_metadata.yaml`, which later # dispatches read as an overlay on this file. # -# `profile` selects the uv virtualenv: `kitless` (default) or `isaacsim`. It is -# NOT derivable from the physics token -- `physics=physx` resolves to kitless -# OvPhysX on 39 tasks and to Kit PhysX on 5, and only loading the env cfg -# settles it. Every task below resolves kitless, so none sets it explicitly. +# `profile` is a single `full` virtualenv holding every backend, so no row needs +# to declare one. That matters because a preset token does not determine the +# backend: `physics=physx` resolves to OvPhysX on 39 tasks and to Kit PhysX on 5. # # This file is replaced wholesale once the upstream task-discovery API lands. tasks: diff --git a/tools/odin/image.py b/tools/odin/image.py index 3f44a0eb4558..b3eb790fe17a 100644 --- a/tools/odin/image.py +++ b/tools/odin/image.py @@ -31,19 +31,19 @@ "resolve_ref", ] -# uv extras per profile. Each profile is a *full* install of everything that -# co-resolves within it, so a task never has to reason about which extras a -# particular workload needs. +# uv extras per profile. ``full`` is everything that co-resolves in one +# virtualenv, so a task never reasons about which extras a workload needs and a +# row never has to be routed to the right image. # -# Two profiles rather than one because a single venv holding everything is -# impossible: ``uv`` rejects ``--extra isaacsim --extra ovphysx`` outright with -# "Extras `isaacsim` and `ovphysx` are incompatible with the declared -# conflicts". The split is exactly Kit vs kitless. +# This became possible once the packaging cap was widened: ovphysx capped +# packaging at <24 while isaacsim-core pinned ==26.0, which made the two extras +# unresolvable together. The ``packaging>=20,<27`` override in the root +# pyproject collapses them onto 26.0. +# +# Still excluded, because they genuinely cannot co-resolve with isaacsim: +# teleop, viser, mimic, test, and the ``all`` aggregate. PROFILES: dict[str, tuple[str, ...]] = { - # Everything that co-resolves with Isaac Sim. - "isaacsim": ("isaacsim", "rsl-rl", "skrl", "rl-games", "sb3", "rerun"), - # Everything that co-resolves without it. Covers Newton, OvPhysX, and OVRTX. - "kitless": ("rsl-rl", "skrl", "rl-games", "sb3", "rerun", "ovrtx", "ovphysx"), + "full": ("isaacsim", "ovphysx", "ovrtx", "rsl-rl", "skrl", "rl-games", "sb3", "rerun"), } # x86_64 resolves torch from the cu128 index (see [tool.uv.sources] in diff --git a/tools/odin/plan.py b/tools/odin/plan.py index 8d36d79eb554..c158eaab61de 100644 --- a/tools/odin/plan.py +++ b/tools/odin/plan.py @@ -40,22 +40,18 @@ # Sizing fields a harvested metadata entry may contribute to a seed entry. _OVERLAY_FIELDS = ("num_envs", "max_iterations", "timeout_s") -# Each profile is a full install of everything that co-resolves within it, so a -# row never reasons about individual extras. Mirrors image.PROFILES; kept here -# rather than imported to keep plan.py free of the image-build layer. +# Extras per profile. Mirrors image.PROFILES; kept here rather than imported to +# keep plan.py free of the image-build layer. # -# The split is Kit vs kitless, not "physx vs newton". A preset token does NOT -# determine the backend: `physics=physx` resolves to kitless OvPhysX on 39 tasks -# and to Kit PhysX on 5, and `isaacsim_physx` resolves to Kit PhysX on all 10 -# that declare it. Only loading the env cfg settles it, which is task-discovery's -# job -- so a row carries its profile rather than having it guessed from a name. +# A single ``full`` profile holds every backend, so a row's physics preset no +# longer has to be resolved to a Kit/kitless runtime before it can be dispatched +# -- which matters because a preset token does not determine the backend: +# `physics=physx` resolves to OvPhysX on 39 tasks and to Kit PhysX on 5. PROFILE_EXTRAS: dict[str, tuple[str, ...]] = { - "isaacsim": ("isaacsim", "rsl-rl", "skrl", "rl-games", "sb3", "rerun"), - "kitless": ("rsl-rl", "skrl", "rl-games", "sb3", "rerun", "ovrtx", "ovphysx"), + "full": ("isaacsim", "ovphysx", "ovrtx", "rsl-rl", "skrl", "rl-games", "sb3", "rerun"), } -# Kitless covers Newton, OvPhysX and OVRTX, which is the large majority of rows. -DEFAULT_PROFILE = "kitless" +DEFAULT_PROFILE = "full" _RL_LIBRARIES = frozenset({"rsl_rl", "rl_games", "skrl", "sb3"}) diff --git a/tools/odin/tests/test_cli.py b/tools/odin/tests/test_cli.py index 253dd23789f7..a8520f80f75e 100644 --- a/tools/odin/tests/test_cli.py +++ b/tools/odin/tests/test_cli.py @@ -161,7 +161,7 @@ def test_build_image_dry_run_writes_a_dockerfile(workspace: Path, tmp_path: Path "--ref", "HEAD", "--profile", - "kitless", + "full", "--context-dir", str(tmp_path / "ctx"), "--dry-run", diff --git a/tools/odin/tests/test_image.py b/tools/odin/tests/test_image.py index 522b5c9c703d..531ac08af464 100644 --- a/tools/odin/tests/test_image.py +++ b/tools/odin/tests/test_image.py @@ -53,9 +53,7 @@ def ran(self, *prefix: str) -> bool: def test_tag_encodes_the_short_sha_and_profiles() -> None: - assert image_tag_for(_SPEC, _SHA, ["isaacsim", "newton"]) == ( - "nvcr.io/nvidian/antoiner-isaac-lab:abcdef1-isaacsim-newton" - ) + assert image_tag_for(_SPEC, _SHA, ["full"]) == "nvcr.io/nvidian/antoiner-isaac-lab:abcdef1-full" def test_resolve_ref_returns_the_full_sha(tmp_path: Path) -> None: @@ -71,7 +69,7 @@ def test_resolve_ref_rejects_an_unknown_ref(tmp_path: Path) -> None: def test_dockerfile_clones_from_the_bundle_and_verifies_the_sha() -> None: - text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1-runtime-ubuntu24.04", profiles=["kitless"]) + text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1-runtime-ubuntu24.04", profiles=["full"]) assert "FROM nvidia/cuda:12.8.1-runtime-ubuntu24.04" in text assert "isaaclab.bundle" in text assert f"git clone --branch {BUNDLE_REF}" in text @@ -79,22 +77,25 @@ def test_dockerfile_clones_from_the_bundle_and_verifies_the_sha() -> None: def test_dockerfile_syncs_once_per_profile() -> None: - text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["isaacsim", "kitless"]) - assert text.count("RUN uv sync") == 2 + text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["full"]) + assert text.count("RUN uv sync") == 1 def test_dockerfile_pins_the_lockfile_on_sync() -> None: # Without --frozen a stale local uv could re-resolve and defeat the pinning. - text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["kitless"]) + text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["full"]) assert "uv sync --frozen" in text -def test_isaacsim_profile_never_selects_conflicting_extras() -> None: - # [tool.uv].conflicts declares isaacsim incompatible with these. - text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["isaacsim"]) - sync_line = next(line for line in text.splitlines() if "uv sync" in line) - for forbidden in ("--extra all", "--extra mimic", "--extra teleop", "--extra ovphysx", "--extra viser"): +def test_full_profile_never_selects_conflicting_extras() -> None: + # ovphysx is no longer forbidden -- the packaging override made it + # co-resolvable with isaacsim -- but these five still conflict. + text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["full"]) + sync_line = next(line for line in text.splitlines() if "RUN uv sync" in line) + for forbidden in ("--extra all", "--extra mimic", "--extra teleop", "--extra viser", "--extra test"): assert forbidden not in sync_line + assert "--extra ovphysx" in sync_line + assert "--extra isaacsim" in sync_line def test_unknown_profile_is_rejected() -> None: @@ -108,12 +109,12 @@ def test_dry_run_writes_the_context_but_invokes_no_docker(tmp_path: Path) -> Non spec=_SPEC, ref="HEAD", repo_root=tmp_path, - profiles=["kitless"], + profiles=["full"], context_dir=tmp_path / "ctx", dry_run=True, run=fake, ) - assert tag.endswith(":abcdef1-kitless") + assert tag.endswith(":abcdef1-full") assert (tmp_path / "ctx" / "Dockerfile").exists() assert not fake.ran("docker") assert not fake.ran("git", "bundle") @@ -121,9 +122,7 @@ def test_dry_run_writes_the_context_but_invokes_no_docker(tmp_path: Path) -> Non 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, profiles=["kitless"], context_dir=tmp_path / "ctx", run=fake - ) + build_image(spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["full"], 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") @@ -131,9 +130,7 @@ def test_build_bundles_one_ref_and_invokes_docker_build(tmp_path: Path) -> None: def test_temp_ref_is_deleted_after_bundling(tmp_path: Path) -> None: fake = _FakeRun() - build_image( - spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["kitless"], context_dir=tmp_path / "ctx", run=fake - ) + build_image(spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["full"], context_dir=tmp_path / "ctx", run=fake) assert fake.ran("git", "update-ref", "-d", f"refs/heads/{BUNDLE_REF}") @@ -141,16 +138,14 @@ 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, profiles=["kitless"], context_dir=tmp_path / "ctx", run=fake + spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["full"], 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, profiles=["kitless"], context_dir=tmp_path / "ctx", run=fake - ) + build_image(spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["full"], context_dir=tmp_path / "ctx", run=fake) assert not fake.ran("docker", "push") @@ -160,7 +155,7 @@ def test_push_runs_when_requested(tmp_path: Path) -> None: spec=_SPEC, ref="HEAD", repo_root=tmp_path, - profiles=["kitless"], + profiles=["full"], context_dir=tmp_path / "ctx", push=True, run=fake, @@ -172,5 +167,5 @@ def test_failed_docker_build_raises(tmp_path: Path) -> None: fake = _FakeRun({"docker build": _cp(returncode=1, stderr="no space left on device")}) with pytest.raises(ImageBuildError, match="no space left"): build_image( - spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["kitless"], context_dir=tmp_path / "ctx", run=fake + spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["full"], context_dir=tmp_path / "ctx", run=fake ) diff --git a/tools/odin/tests/test_plan.py b/tools/odin/tests/test_plan.py index ea59d37510af..61148a431ad3 100644 --- a/tools/odin/tests/test_plan.py +++ b/tools/odin/tests/test_plan.py @@ -32,24 +32,20 @@ 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_kitless_profile_is_a_full_install_without_isaac_sim() -> None: - extras = uv_extras_for_profile("kitless") - assert "isaacsim" not in extras - for expected in ("rsl-rl", "skrl", "rl-games", "sb3", "ovphysx", "ovrtx", "rerun"): +def test_full_profile_holds_every_backend() -> 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. + extras = uv_extras_for_profile("full") + for expected in ("isaacsim", "ovphysx", "ovrtx", "rsl-rl", "skrl", "rl-games", "sb3", "rerun"): assert expected in extras -def test_isaacsim_profile_is_a_full_install_with_isaac_sim() -> None: - extras = uv_extras_for_profile("isaacsim") - assert "isaacsim" in extras - for expected in ("rsl-rl", "skrl", "rl-games", "sb3"): - assert expected in extras - - -def test_the_two_profiles_never_share_a_venv() -> None: - # isaacsim-core pins packaging==26.0 while ovphysx pins packaging<24, so a - # single virtualenv holding both is unresolvable. The split is forced. - assert "ovphysx" not in uv_extras_for_profile("isaacsim") +def test_full_profile_excludes_extras_that_cannot_co_resolve() -> None: + # teleop, viser, mimic, test and the `all` aggregate still conflict with + # isaacsim in [tool.uv].conflicts. + extras = uv_extras_for_profile("full") + for forbidden in ("teleop", "viser", "mimic", "test", "all"): + assert forbidden not in extras def test_unknown_profile_is_rejected() -> None: @@ -57,17 +53,8 @@ def test_unknown_profile_is_rejected() -> None: uv_extras_for_profile("quantum") -def test_rows_default_to_the_kitless_profile() -> None: - # physics=physx resolves to kitless OvPhysX on 39 of the 44 tasks that - # declare it, so kitless is the right default. - assert plan_rows(task_rows=_ROWS, seeds=[42])[0].profile == "kitless" - - -def test_row_can_request_the_isaacsim_profile() -> None: - entry = dict(_ROWS[0], profile="isaacsim") - row = plan_rows(task_rows=[entry], seeds=[42])[0] - assert row.profile == "isaacsim" - assert "isaacsim" in row.uv_extras +def test_rows_default_to_the_full_profile() -> None: + assert plan_rows(task_rows=_ROWS, seeds=[42])[0].profile == "full" def test_rows_expand_across_seeds() -> None: 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 == '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 == 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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-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 == 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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 == '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-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-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-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 (platform_machine == 'arm64' 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-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 == 'AMD64' and extra != 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic' 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' 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 (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 (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim') 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 == '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') 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 == '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' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim') 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 == '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 == 'AMD64' and extra != 'extra-12-isaaclab-dev-isaacsim' 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-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim') 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') 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-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, - { name = "torch", 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'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' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'arm64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim') 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 (platform_machine == 'arm64' 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' 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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'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 == 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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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== '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' 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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-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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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-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 = 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}, { 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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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 == 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'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' 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and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-all') or (platform_machine == 'arm64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-all') 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 == 'arm64' and sys_platform == 'linux' and extra != 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'aarch64' and extra != 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'aarch64' and extra != 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim' 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' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'aarch64' and extra != 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'arm64' and extra != 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'arm64' and extra != 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim' 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' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'arm64' and extra != 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') 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", marker = "(platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform != 'win32') or sys_platform == 'linux'" }, ] @@ -6612,12 +6568,12 @@ dependencies = [ { name = "onnxscript" }, { name = "tensorboard" }, { name = "tensordict" }, - { name = "torch", version = "2.11.0", 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!= '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-ovphysx') 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 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and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser')" }, { 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 == 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'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 = "requests", version = "2.34.2", 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 = "safetensors" }, { name = "tokenizers" }, { name = "tqdm" }, @@ -7492,7 +7443,7 @@ resolution-markers = [ "platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform == 'win32'", ] dependencies = [ - { name = "numpy", 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 = "numpy", 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')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/79/37/5cb90f04990260d2caceb6093560c6cefafca1ec522c1e43be01ca658244/trimesh-4.12.2.tar.gz", hash = "sha256:c8ca31571ac00b112e4e160e66a2d4c3491df321f056bd33806be0485d1af9d9", size = 842220, upload-time = "2026-05-01T00:57:43.333Z" } wheels = [ @@ -7637,7 +7588,7 @@ source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "distlib" }, { name = "filelock", version = "3.25.2", 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 = "filelock", version = "3.32.0", 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 = "filelock", version = "3.32.0", 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 = "platformdirs" }, { name = "python-discovery" }, { name = "typing-extensions" }, @@ -7673,8 +7624,8 @@ name = "vtk" version = "9.6.2" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "matplotlib", version = "3.10.8", 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 = "matplotlib", version = "3.11.1", 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 == '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 = "matplotlib", version = "3.10.8", 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-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 = "matplotlib", version = "3.11.1", 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-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')" }, ] wheels = [ { url = "https://files.pythonhosted.org/packages/60/d3/344f3664586f1f8bb5f7950db73c257439f5c796e0978e7a53e91d0fe2aa/vtk-9.6.2-cp312-cp312-macosx_10_10_x86_64.whl", hash = "sha256:2adcaed1cc4d3411a6b19834d6ed7d480f9ad9252e56546ea9930e66beae84e8", size = 114881278, upload-time = "2026-05-19T04:47:12.045Z" }, @@ -7703,7 +7654,7 @@ resolution-markers = [ dependencies = [ { name = "click", version = "8.1.7", 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 = "gitpython", 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", 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", 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 = "platformdirs", 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 = "protobuf", 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 = "pydantic", 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')" }, @@ -7743,7 +7694,7 @@ resolution-markers = [ ] dependencies = [ { name = "click", version = "8.4.2", source = { registry = "https://pypi.org/simple" } }, - { name = "packaging", version = "23.2", source = { registry = "https://pypi.org/simple" } }, + { name = "packaging" }, { name = "platformdirs" }, { name = "protobuf" }, { name = "pydantic" }, From 4c4ee8ec5dbb1f87f3461e0526d4ea47bc8aebdb Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 14:49:50 +0200 Subject: [PATCH 17/33] Make the image build survive a flaky link The first real build spent 480s failing apt DNS lookups and reported nothing, because every subprocess ran with capture_output=True. Docker output now streams, so a wedged step looks different from a slow one, and _check reports the exit code when there is no captured stderr. uv sync pulls tens of GB from PyPI in a single layer, so a dropped connection discarded the lot and restarted from zero. It now writes to a BuildKit cache mount, which makes a retry resume from what already landed. That also keeps the wheel cache out of the image: nothing needs it at run time, since the venv built here already matches what tasks request and 'uv run --frozen' cannot re-resolve. Raises UV_HTTP_TIMEOUT to 180s, well above the 30s default, because large wheels behind a VPN stall longer than that while still alive, and builds with --network=host to use the host resolver rather than BuildKit's bridge. --- tools/odin/image.py | 25 +++++++++++++++++-------- tools/odin/templates/Dockerfile.j2 | 20 ++++++++++++++++---- tools/odin/tests/test_image.py | 25 +++++++++++++++++++++---- 3 files changed, 54 insertions(+), 16 deletions(-) diff --git a/tools/odin/image.py b/tools/odin/image.py index b3eb790fe17a..3d7b95a1809e 100644 --- a/tools/odin/image.py +++ b/tools/odin/image.py @@ -180,12 +180,12 @@ def build_image( return tag _bundle_commit(commit_sha, repo_root=repo_root, dest=context_dir / "isaaclab.bundle", run=run) - _check( - run(["docker", "build", "-t", tag, str(context_dir)], capture_output=True, text=True, check=False), - "docker build", - ) + # 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], capture_output=True, text=True, check=False), "docker push") + _check(run(["docker", "push", tag], check=False), "docker push") return tag @@ -240,6 +240,15 @@ def _bundle_commit(commit_sha: str, *, repo_root: Path, dest: Path, run: _Runner def _check(completed: subprocess.CompletedProcess, what: str) -> None: - """Raise :class:`ImageBuildError` when *completed* failed.""" - if completed.returncode != 0: - raise ImageBuildError(f"{what} failed: {(completed.stderr or '').strip()}") + """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/templates/Dockerfile.j2 b/tools/odin/templates/Dockerfile.j2 index e669265eccf0..12d87dadc242 100644 --- a/tools/odin/templates/Dockerfile.j2 +++ b/tools/odin/templates/Dockerfile.j2 @@ -27,9 +27,21 @@ WORKDIR /workspace/isaaclab 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. Each profile warms -# UV_CACHE_DIR; at task time `uv run --frozen --extra ...` re-syncs from that -# cache without touching the network. +# 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 {% for profile in profiles %} -RUN uv sync --frozen {% for extra in profile_extras[profile] %}--extra {{ extra }} {% endfor %} +RUN --mount=type=cache,target=/opt/uv-cache,sharing=locked \ + uv sync --frozen {% for extra in profile_extras[profile] %}--extra {{ extra }} {% endfor %} {% endfor %} diff --git a/tools/odin/tests/test_image.py b/tools/odin/tests/test_image.py index 531ac08af464..36e599163109 100644 --- a/tools/odin/tests/test_image.py +++ b/tools/odin/tests/test_image.py @@ -78,7 +78,7 @@ def test_dockerfile_clones_from_the_bundle_and_verifies_the_sha() -> None: def test_dockerfile_syncs_once_per_profile() -> None: text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["full"]) - assert text.count("RUN uv sync") == 1 + assert text.count("uv sync --frozen") == 1 def test_dockerfile_pins_the_lockfile_on_sync() -> None: @@ -91,7 +91,7 @@ def test_full_profile_never_selects_conflicting_extras() -> None: # ovphysx is no longer forbidden -- the packaging override made it # co-resolvable with isaacsim -- but these five still conflict. text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["full"]) - sync_line = next(line for line in text.splitlines() if "RUN uv sync" in line) + sync_line = next(line for line in text.splitlines() if "uv sync --frozen" in line) for forbidden in ("--extra all", "--extra mimic", "--extra teleop", "--extra viser", "--extra test"): assert forbidden not in sync_line assert "--extra ovphysx" in sync_line @@ -126,6 +126,9 @@ def test_build_bundles_one_ref_and_invokes_docker_build(tmp_path: Path) -> None: 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: @@ -164,8 +167,22 @@ def test_push_runs_when_requested(tmp_path: Path) -> None: def test_failed_docker_build_raises(tmp_path: Path) -> None: - fake = _FakeRun({"docker build": _cp(returncode=1, stderr="no space left on device")}) - with pytest.raises(ImageBuildError, match="no space left"): + # 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, profiles=["full"], context_dir=tmp_path / "ctx", run=fake ) + + +def test_uv_sync_uses_a_resumable_cache_mount() -> None: + # This step pulls tens of GB from PyPI. Without a cache mount a dropped + # connection discards everything and the retry restarts from zero. + text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["full"]) + assert "--mount=type=cache,target=/opt/uv-cache" in text + + +def test_uv_http_timeout_is_raised_above_the_default() -> None: + text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["full"]) + assert "UV_HTTP_TIMEOUT" in text From ef99be583acbfc0c374dede25a47efc06a114c01 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 16:47:05 +0200 Subject: [PATCH 18/33] Generate the task list from the registry Replaces the hand-typed six-entry seed list with discovery over the Gym registry: 87 dispatchable tasks, 163 rows, 102 core and 61 contrib. The old list covered about 5% of the tree. Discovery is the default source; a hand-written file remains possible via 'dispatch --tasks-yaml'. Rows carry an explicit scope field rather than re-deriving core-vs-contrib from the task-id prefix at each call site. Four named policies with composable post-filters: standard (163 rows), core-only (102), all-libraries (348), cross-backend (75). Two selection rules are worth stating. physx is dropped when ovphysx is also declared, because headless they resolve to the same backend and running both is an exact duplicate. Tasks declaring no physics preset emit one row with the field absent, since they reject any physics= token. Sizing is never invented here -- it is harvested from a real run and applied as an overlay. --- tools/odin/cli.py | 48 ++- tools/odin/config/tasks.yaml | 663 ++++++++++++++++++++++++++++-- tools/odin/discover.py | 266 ++++++++++++ tools/odin/tests/test_cli.py | 38 +- tools/odin/tests/test_discover.py | 145 +++++++ 5 files changed, 1121 insertions(+), 39 deletions(-) create mode 100644 tools/odin/discover.py create mode 100644 tools/odin/tests/test_discover.py diff --git a/tools/odin/cli.py b/tools/odin/cli.py index 0b69bf36d8db..ec23d2a73450 100644 --- a/tools/odin/cli.py +++ b/tools/odin/cli.py @@ -11,6 +11,7 @@ - ``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. """ @@ -25,6 +26,7 @@ from tools.odin.client import OsmoClient from tools.odin.config_file import OdinConfig, OdinConfigError, load_odin_config +from tools.odin.discover import POLICIES, DiscoveryError, discover_tasks, filter_rows, rows_for_policy, write_task_list from tools.odin.harvest import DEFAULT_TIMEOUT_HEADROOM, harvest_dispatch, write_task_metadata from tools.odin.image import DEFAULT_CUDA_IMAGE, PROFILES, ImageBuildError, build_image from tools.odin.plan import PlanError, PlannedRow, apply_metadata, chunk_rows, load_task_rows, plan_rows @@ -281,6 +283,39 @@ def command_fetch(args: argparse.Namespace) -> int: 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( + rows_for_policy(tasks, args.policy), + include=args.include, + exclude=args.exclude, + libraries=args.library, + physics=args.physics, + 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={ + "generated_at": _utc_now_iso(), + "policy": args.policy, + "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 @@ -349,6 +384,16 @@ def _build_parser() -> argparse.ArgumentParser: 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("--policy", choices=POLICIES, default="standard") + 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("--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")) @@ -372,6 +417,7 @@ def _build_parser() -> argparse.ArgumentParser: "dispatch": command_dispatch, "status": command_status, "fetch": command_fetch, + "discover": command_discover, "harvest": command_harvest, } @@ -392,7 +438,7 @@ def main(argv: list[str] | None = None) -> int: return 2 try: return _COMMANDS[args.command](args) - except (OdinConfigError, PlanError, ImageBuildError) as exc: + except (OdinConfigError, PlanError, ImageBuildError, DiscoveryError) as exc: print(f"[odin] {exc}", file=sys.stderr) return 1 diff --git a/tools/odin/config/tasks.yaml b/tools/odin/config/tasks.yaml index 5b9d75ee330f..24880a76d9ec 100644 --- a/tools/odin/config/tasks.yaml +++ b/tools/odin/config/tasks.yaml @@ -3,42 +3,631 @@ # # SPDX-License-Identifier: BSD-3-Clause -# Seed task list for OdinV2. +# Generated by tools/odin/discover.py. Do not edit by hand -- regenerate, +# or pass a hand-written file to `dispatch --tasks-yaml` to override. # -# Each entry carries only (task_id, rl_library, physics) — and optionally -# `renderer`. Sizing is deliberately absent: `--num_envs` and `--max_iterations` -# both default to None upstream and fall back to the task's shipped agent -# config, so a first dispatch runs every task at its shipped size. The resolved -# values, the wall-clock cost, and a reward baseline are harvested back out of -# the returned bundles and written to `task_metadata.yaml`, which later -# dispatches read as an overlay on this file. -# -# `profile` is a single `full` virtualenv holding every backend, so no row needs -# to declare one. That matters because a preset token does not determine the -# backend: `physics=physx` resolves to OvPhysX on 39 tasks and to Kit PhysX on 5. -# -# This file is replaced wholesale once the upstream task-discovery API lands. +# Sizing is absent by design: it is harvested from a real run into +# task_metadata.yaml and applied as an overlay. +discovery: + generated_at: '2026-07-29T14:46:22Z' + policy: standard + task_count: 87 + row_count: 163 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 - - - task_id: Isaac-Ant - rl_library: rsl_rl - physics: physx - - - task_id: Isaac-Humanoid - rl_library: rsl_rl - physics: newton_mjwarp - - - task_id: Isaac-Humanoid - rl_library: rsl_rl - physics: physx +- task_id: Isaac-Ant + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Ant + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Ant + scope: core + rl_library: rsl_rl + physics: physx +- task_id: Isaac-Ant-Direct + scope: core + rl_library: rsl_rl + physics: isaacsim_physx +- task_id: Isaac-Ant-Direct + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Ant-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Ant-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Cartpole + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Cartpole + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Cartpole + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rsl_rl + physics: isaacsim_physx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: rsl_rl + physics: isaacsim_physx +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Fourbar-Pole-Swingup + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Humanoid + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Humanoid + scope: core + rl_library: rsl_rl + physics: physx +- task_id: Isaac-Humanoid-Direct + scope: core + rl_library: rsl_rl + physics: isaacsim_physx +- task_id: Isaac-Humanoid-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Humanoid-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Lift-Cloth-Franka + scope: core + rl_library: rsl_rl + physics: newton_mjwarp_vbd +- task_id: Isaac-Lift-Cube-Franka + scope: core + rl_library: rsl_rl +- task_id: Isaac-Lift-Franka + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Lift-Franka + scope: core + rl_library: rsl_rl + physics: physx +- task_id: Isaac-Lift-KukaAllegro + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Lift-KukaAllegro + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Lift-Soft-Franka + scope: core + rl_library: rsl_rl + physics: newton_mjwarp_vbd +- task_id: Isaac-Lift-Soft-Franka + scope: core + rl_library: rsl_rl + physics: physx +- task_id: Isaac-Open-Drawer-Franka + scope: core + rl_library: rsl_rl +- task_id: Isaac-Open-Drawer-Franka-Direct + scope: core + rl_library: rsl_rl + physics: isaacsim_physx +- task_id: Isaac-Open-Drawer-Franka-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Open-Drawer-Franka-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Pendulum-Direct + scope: core + rl_library: rl_games +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: isaacsim_physx +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Reach-Franka-OSC + scope: core + rl_library: rsl_rl + physics: isaacsim_physx +- task_id: Isaac-Reach-Franka-OSC + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Reach-Franka-OSC + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reach-Franka-OSC + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: rsl_rl + physics: isaacsim_physx +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Reorient-Cube-Allegro + scope: core + rl_library: rsl_rl +- task_id: Isaac-Reorient-Cube-Allegro-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reorient-Cube-Allegro-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Reorient-Cube-Shadow-Direct + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Reorient-Cube-Shadow-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reorient-Cube-Shadow-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Reorient-Franka + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reorient-Franka + scope: core + rl_library: rsl_rl + physics: physx +- task_id: Isaac-Reorient-KukaAllegro + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reorient-KukaAllegro + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Shadow-Handover-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Shadow-Handover-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Velocity-Flat-AnymalD + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Flat-AnymalD + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Velocity-Flat-Cassie + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Velocity-Flat-Cassie + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Flat-Cassie + scope: core + rl_library: rsl_rl + physics: physx +- task_id: Isaac-Velocity-Flat-G1 + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Velocity-Flat-G1 + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Flat-H1 + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Velocity-Flat-H1 + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Flat-H1 + scope: core + rl_library: rsl_rl + physics: physx +- task_id: Isaac-Velocity-Flat-Spot + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Velocity-Flat-Spot + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Flat-UnitreeGo2 + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Velocity-Flat-UnitreeGo2 + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Flat-UnitreeGo2 + scope: core + rl_library: rsl_rl + physics: physx +- task_id: Isaac-Velocity-Rough-AnymalD + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Rough-AnymalD + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Velocity-Rough-Cassie + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Rough-Cassie + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Velocity-Rough-G1 + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Rough-G1 + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Velocity-Rough-H1 + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Rough-H1 + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Velocity-Rough-UnitreeGo2 + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Rough-UnitreeGo2 + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: IsaacContrib-AutoMate-Assembly-Direct + scope: contrib + rl_library: rl_games +- task_id: IsaacContrib-AutoMate-Disassembly-Direct + scope: contrib + rl_library: rl_games +- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct + scope: contrib + rl_library: skrl +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: isaacsim_physx +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: newton_kamino +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: newton_mjwarp +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: ovphysx +- task_id: IsaacContrib-Deploy-GearAssembly-Rizon4s-Grav + scope: contrib + rl_library: rsl_rl +- task_id: IsaacContrib-Deploy-GearAssembly-Rizon4s-Grav-ROS-Inference + scope: contrib + rl_library: rsl_rl +- task_id: IsaacContrib-Deploy-GearAssembly-UR10e-2F140 + scope: contrib + rl_library: rsl_rl +- task_id: IsaacContrib-Deploy-GearAssembly-UR10e-2F140-ROS-Inference + scope: contrib + rl_library: rsl_rl +- task_id: IsaacContrib-Deploy-GearAssembly-UR10e-2F85 + scope: contrib + rl_library: rsl_rl +- task_id: IsaacContrib-Deploy-GearAssembly-UR10e-2F85-ROS-Inference + scope: contrib + rl_library: rsl_rl +- task_id: IsaacContrib-Deploy-Reach-Rizon4s + scope: contrib + rl_library: rsl_rl +- task_id: IsaacContrib-Deploy-Reach-Rizon4s-ROS-Inference + scope: contrib + rl_library: rsl_rl +- task_id: IsaacContrib-Deploy-Reach-UR10e + scope: contrib + rl_library: rsl_rl +- task_id: IsaacContrib-Deploy-Reach-UR10e-ROS-Inference + scope: contrib + rl_library: rsl_rl +- task_id: IsaacContrib-DrLegs-HoldPose + scope: contrib + rl_library: rsl_rl + physics: newton_kamino +- task_id: IsaacContrib-DrLegs-HoldPose + scope: contrib + rl_library: rsl_rl + physics: physx +- task_id: IsaacContrib-DrLegs-Walk + scope: contrib + rl_library: rsl_rl + physics: newton_kamino +- task_id: IsaacContrib-DrLegs-Walk + scope: contrib + rl_library: rsl_rl + physics: physx +- task_id: IsaacContrib-Factory-GearMesh-Direct + scope: contrib + rl_library: rl_games +- task_id: IsaacContrib-Factory-NutThread-Direct + scope: contrib + rl_library: rl_games +- task_id: IsaacContrib-Factory-PegInsert-Direct + scope: contrib + rl_library: rl_games +- task_id: IsaacContrib-Forge-GearMesh-Direct + scope: contrib + rl_library: rl_games +- task_id: IsaacContrib-Forge-NutThread-Direct + scope: contrib + rl_library: rl_games +- task_id: IsaacContrib-Forge-PegInsert-Direct + scope: contrib + rl_library: rl_games +- task_id: IsaacContrib-Humanoid-AMP-Dance-Direct + scope: contrib + rl_library: skrl +- task_id: IsaacContrib-Humanoid-AMP-Run-Direct + scope: contrib + rl_library: skrl +- task_id: IsaacContrib-Humanoid-AMP-Walk-Direct + scope: contrib + rl_library: skrl +- task_id: IsaacContrib-Lift-Cube-OpenArm + scope: contrib + rl_library: rsl_rl +- task_id: IsaacContrib-Navigation-3DObstacles-ARL-Robot-1 + scope: contrib + rl_library: rsl_rl +- task_id: IsaacContrib-Navigation-Flat-AnymalC + scope: contrib + rl_library: rsl_rl +- task_id: IsaacContrib-Open-Drawer-OpenArm + scope: contrib + rl_library: rsl_rl +- task_id: IsaacContrib-Reach-OpenArm + scope: contrib + rl_library: rsl_rl +- task_id: IsaacContrib-Reach-OpenArmBi + scope: contrib + rl_library: rsl_rl +- task_id: IsaacContrib-TrackPositionNoObstacles-ARL-Robot-1 + scope: contrib + rl_library: rsl_rl +- task_id: IsaacContrib-Tracking-LocoManip-Digit + scope: contrib + rl_library: rsl_rl + physics: physx +- task_id: IsaacContrib-Velocity-Flat-AnymalB + scope: contrib + rl_library: rsl_rl + physics: newton_kamino +- task_id: IsaacContrib-Velocity-Flat-AnymalB + scope: contrib + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: IsaacContrib-Velocity-Flat-AnymalB + scope: contrib + rl_library: rsl_rl + physics: physx +- task_id: IsaacContrib-Velocity-Flat-AnymalC + scope: contrib + rl_library: rsl_rl + physics: newton_kamino +- task_id: IsaacContrib-Velocity-Flat-AnymalC + scope: contrib + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: IsaacContrib-Velocity-Flat-AnymalC + scope: contrib + rl_library: rsl_rl + physics: physx +- task_id: IsaacContrib-Velocity-Flat-AnymalC-Direct + scope: contrib + rl_library: rsl_rl +- task_id: IsaacContrib-Velocity-Flat-Digit + scope: contrib + rl_library: rsl_rl + physics: physx +- task_id: IsaacContrib-Velocity-Flat-UnitreeA1 + scope: contrib + rl_library: rsl_rl + physics: newton_kamino +- task_id: IsaacContrib-Velocity-Flat-UnitreeA1 + scope: contrib + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: IsaacContrib-Velocity-Flat-UnitreeA1 + scope: contrib + rl_library: rsl_rl + physics: physx +- task_id: IsaacContrib-Velocity-Flat-UnitreeGo1 + scope: contrib + rl_library: rsl_rl + physics: newton_kamino +- task_id: IsaacContrib-Velocity-Flat-UnitreeGo1 + scope: contrib + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: IsaacContrib-Velocity-Rough-AnymalB + scope: contrib + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: IsaacContrib-Velocity-Rough-AnymalB + scope: contrib + rl_library: rsl_rl + physics: ovphysx +- task_id: IsaacContrib-Velocity-Rough-AnymalC + scope: contrib + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: IsaacContrib-Velocity-Rough-AnymalC + scope: contrib + rl_library: rsl_rl + physics: ovphysx +- task_id: IsaacContrib-Velocity-Rough-AnymalC-Direct + scope: contrib + rl_library: rsl_rl +- task_id: IsaacContrib-Velocity-Rough-Digit + scope: contrib + rl_library: rsl_rl + physics: physx +- task_id: IsaacContrib-Velocity-Rough-UnitreeA1 + scope: contrib + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: IsaacContrib-Velocity-Rough-UnitreeA1 + scope: contrib + rl_library: rsl_rl + physics: ovphysx +- task_id: IsaacContrib-Velocity-Rough-UnitreeGo1 + scope: contrib + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: IsaacContrib-Velocity-Rough-UnitreeGo1 + scope: contrib + rl_library: rsl_rl + physics: ovphysx diff --git a/tools/odin/discover.py b/tools/odin/discover.py new file mode 100644 index 000000000000..9cfd9853a8b4 --- /dev/null +++ b/tools/odin/discover.py @@ -0,0 +1,266 @@ +# 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``. 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__ = [ + "POLICIES", + "RL_LIBRARY_PRIORITY", + "DiscoveredTask", + "DiscoveryError", + "discover_tasks", + "filter_rows", + "rows_for_policy", + "write_task_list", +] + +# Preferred order when a policy picks one library per task. +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"}) + +POLICIES: tuple[str, ...] = ("standard", "core-only", "all-libraries", "cross-backend") + +_CROSS_BACKEND_PHYSICS = ("newton_mjwarp", "ovphysx") + + +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. + physics: Physics preset names the task declares, excluding names that + are not valid ``physics=`` selectors. + renderers: Renderer preset names the task declares. + """ + + task_id: str + scope: str + rl_libraries: tuple[str, ...] + physics: tuple[str, ...] + renderers: tuple[str, ...] + + +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 rows_for_policy(tasks: list[DiscoveredTask], policy: str) -> list[dict[str, Any]]: + """Expand discovered tasks into dispatch rows under a named policy. + + Args: + tasks: Discovered tasks. + policy: One of :data:`POLICIES`. + + Returns: + Row dicts sorted by ``(task_id, rl_library, physics)``, each carrying + ``task_id``, ``scope``, ``rl_library`` and — unless the task declares no + physics preset — ``physics``. + + Raises: + DiscoveryError: If *policy* is unknown. + """ + if policy not in POLICIES: + raise DiscoveryError(f"unknown policy {policy!r}; expected one of {list(POLICIES)}") + + rows: list[dict[str, Any]] = [] + for task in tasks: + if not task.rl_libraries: + continue + if policy == "core-only" and task.scope != "core": + continue + + libraries = task.rl_libraries if policy == "all-libraries" else task.rl_libraries[:1] + physics = _canonical_physics(task.physics) + if policy == "cross-backend": + physics = tuple(name for name in physics if name in _CROSS_BACKEND_PHYSICS) + if not physics: + continue + + for library in libraries: + if not physics: + # 35 tasks declare no physics preset and reject any physics= + # token, so they get exactly one row with the field absent. + rows.append({"task_id": task.task_id, "scope": task.scope, "rl_library": library}) + continue + for name in physics: + rows.append( + {"task_id": task.task_id, "scope": task.scope, "rl_library": library, "physics": name} + ) + + rows.sort(key=lambda row: (row["task_id"], row["rl_library"], row.get("physics") 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, + scope: str | None = None, + max_rows: int | None = None, +) -> list[dict[str, Any]]: + """Apply post-filters to policy rows. + + Args: + rows: Rows from :func:`rows_for_policy`. + 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. + 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 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. + + 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 = tuple(sorted(preset_map.get(PresetTarget.PHYSICS, []))) if preset_map else () + renderers = tuple(sorted(preset_map.get(PresetTarget.RENDERER, []))) if preset_map else () + tasks.append( + DiscoveredTask( + task_id=spec.id, + scope="contrib" if spec.id.startswith("IsaacContrib-") else "core", + rl_libraries=libraries, + physics=physics, + renderers=renderers, + ) + ) + tasks.sort(key=lambda task: task.task_id) + return tasks + + +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. + """ + 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/tests/test_cli.py b/tools/odin/tests/test_cli.py index a8520f80f75e..1ff13558e1a9 100644 --- a/tools/odin/tests/test_cli.py +++ b/tools/odin/tests/test_cli.py @@ -80,8 +80,12 @@ def test_dry_run_submits_nothing(workspace: Path) -> None: def test_include_filter_narrows_the_row_set(workspace: Path) -> None: + import fnmatch + main(_dispatch_argv(workspace, "--include", "Isaac-Cartpole-*")) - assert {job["task_id"] for job in _state(workspace)["jobs"]} == {"Isaac-Cartpole-Direct"} + 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: @@ -250,3 +254,35 @@ def test_harvest_writes_metadata_from_bundles(workspace: Path, tmp_path: Path) - 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",), ("newton_mjwarp",), ()), + DiscoveredTask("IsaacContrib-Walk", "contrib", ("rsl_rl",), ("ovphysx",), ()), + ], + ) + out = tmp_path / "tasks.yaml" + + assert main(["discover", "--policy", "standard", "--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",), (), ())] + ) + assert main(["discover", "--scope", "contrib", "--output", str(tmp_path / "t.yaml")]) != 0 diff --git a/tools/odin/tests/test_discover.py b/tools/odin/tests/test_discover.py new file mode 100644 index 000000000000..a25b34dca3bc --- /dev/null +++ b/tools/odin/tests/test_discover.py @@ -0,0 +1,145 @@ +# 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 + +"""Policy 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 pytest +import yaml + +from tools.odin.discover import DiscoveredTask, DiscoveryError, filter_rows, rows_for_policy, write_task_list +from tools.odin.plan import load_task_rows, plan_rows + +_ANT = DiscoveredTask( + task_id="Isaac-Ant", + scope="core", + rl_libraries=("rsl_rl", "rl_games", "skrl"), + physics=("newton_kamino", "newton_mjwarp", "physx"), + renderers=(), +) +_CONTRIB = DiscoveredTask( + task_id="IsaacContrib-Walk", + scope="contrib", + rl_libraries=("rsl_rl",), + physics=("newton_mjwarp",), + renderers=(), +) +# 35 real tasks declare no physics preset and reject any physics= token. +_NO_PHYSICS = DiscoveredTask( + task_id="Isaac-Intrinsic", scope="core", rl_libraries=("skrl",), physics=(), renderers=() +) +_TASKS = [_ANT, _CONTRIB, _NO_PHYSICS] + + +def test_standard_picks_one_library_per_task() -> None: + rows = rows_for_policy(_TASKS, "standard") + assert {row["rl_library"] for row in rows if row["task_id"] == "Isaac-Ant"} == {"rsl_rl"} + + +def test_all_libraries_expands_every_declared_library() -> None: + rows = rows_for_policy(_TASKS, "all-libraries") + assert {row["rl_library"] for row in rows if row["task_id"] == "Isaac-Ant"} == {"rsl_rl", "rl_games", "skrl"} + + +def test_core_only_drops_contrib() -> None: + rows = rows_for_policy(_TASKS, "core-only") + assert all(row["scope"] == "core" for row in rows) + + +def test_cross_backend_keeps_only_the_two_compared_backends() -> None: + task = DiscoveredTask( + task_id="Isaac-X", scope="core", rl_libraries=("rsl_rl",), + physics=("newton_mjwarp", "ovphysx", "newton_kamino"), renderers=(), + ) + rows = rows_for_policy([task], "cross-backend") + assert {row["physics"] for row in rows} == {"newton_mjwarp", "ovphysx"} + + +def test_physx_is_dropped_when_ovphysx_is_also_declared() -> None: + # Headless, physics=physx resolves to OvPhysX, so running both duplicates. + task = DiscoveredTask( + task_id="Isaac-X", scope="core", rl_libraries=("rsl_rl",), physics=("physx", "ovphysx"), renderers=() + ) + assert {row["physics"] for row in rows_for_policy([task], "standard")} == {"ovphysx"} + + +def test_physx_is_kept_when_ovphysx_is_absent() -> None: + task = DiscoveredTask( + task_id="Isaac-X", scope="core", rl_libraries=("rsl_rl",), physics=("physx",), renderers=() + ) + assert {row["physics"] for row in rows_for_policy([task], "standard")} == {"physx"} + + +def test_proxy_backend_is_never_dispatched() -> None: + task = DiscoveredTask( + task_id="Isaac-X", scope="core", rl_libraries=("rsl_rl",), + physics=("newton_mjwarp", "newton_mjwarp_vbd_proxy"), renderers=(), + ) + assert {row["physics"] for row in rows_for_policy([task], "standard")} == {"newton_mjwarp"} + + +def test_task_without_physics_gets_exactly_one_row_with_no_token() -> None: + rows = [row for row in rows_for_policy(_TASKS, "standard") 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=(), physics=(), renderers=()) + assert rows_for_policy([task], "standard") == [] + + +def test_rows_are_deterministic() -> None: + assert rows_for_policy(_TASKS, "standard") == rows_for_policy(list(reversed(_TASKS)), "standard") + + +def test_unknown_policy_is_rejected() -> None: + with pytest.raises(DiscoveryError, match="quantum"): + rows_for_policy(_TASKS, "quantum") + + +def test_scope_filter_uses_the_explicit_field() -> None: + rows = rows_for_policy(_TASKS, "standard") + assert {row["task_id"] for row in filter_rows(rows, scope="contrib")} == {"IsaacContrib-Walk"} + + +def test_include_and_exclude_globs_compose() -> None: + rows = rows_for_policy(_TASKS, "standard") + 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 = rows_for_policy(_TASKS, "standard") + assert [r["task_id"] for r in filter_rows(rows, physics=["default"])] == ["Isaac-Intrinsic"] + + +def test_max_rows_is_a_deterministic_head() -> None: + rows = rows_for_policy(_TASKS, "standard") + 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 = rows_for_policy(_TASKS, "standard") + + write_task_list(out, rows, meta={"policy": "standard", "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_provenance_header_is_ignored_by_the_planner(tmp_path: Path) -> None: + out = tmp_path / "tasks.yaml" + write_task_list(out, rows_for_policy(_TASKS, "standard"), meta={"policy": "standard"}) + assert yaml.safe_load(out.read_text())["discovery"]["policy"] == "standard" + assert load_task_rows(out) # header does not leak into the rows From a582ca5014df595d83ede60a263f35c341ff38ca Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 16:51:29 +0200 Subject: [PATCH 19/33] Rename Odin CLI flags to snake_case and policy to selection AGENTS.md mandates snake_case CLI arguments and upstream follows it (--rl_library, --num_envs, --max_iterations), but sixteen Odin flags used kebab-case, so 'odin' read inconsistently with the 'isaaclab benchmark' command it wraps. --policy is renamed --selection. It names the row-set shape, but 'policy' means the learned agent everywhere else in this codebase, so '--policy standard' read like it selected a network. The RL library axis is --library. Documents the discovery flow, including that physics=physx resolves to kitless OvPhysX on 39 tasks and to Kit PhysX on only 5 -- so sweeping the PhysX family needs all three tokens. --- tools/odin/README.md | 55 +++++++++++++++++++++----- tools/odin/cli.py | 54 +++++++++++++++---------- tools/odin/config/tasks.yaml | 4 +- tools/odin/discover.py | 37 +++++++++-------- tools/odin/tests/test_cli.py | 44 ++++++++++----------- tools/odin/tests/test_discover.py | 66 ++++++++++++++++--------------- 6 files changed, 154 insertions(+), 106 deletions(-) diff --git a/tools/odin/README.md b/tools/odin/README.md index ebfac340d90f..3334cde832ae 100644 --- a/tools/odin/README.md +++ b/tools/odin/README.md @@ -17,7 +17,7 @@ part of this tool; it lives on the `antoiner/feat/odin` branch. - 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. + including `--dry_run`, works offline. ## Build an image @@ -33,7 +33,7 @@ uv run python -m tools.odin.cli build-image \ --push ``` -`--dry-run` writes the build context and prints the tag without invoking git +`--dry_run` writes the build context and prints the tag without invoking git bundling or Docker — useful for inspecting the generated Dockerfile. One profile, `full`, holding every backend: @@ -60,25 +60,60 @@ 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 + +Discovery over the Gym registry is the default row source: + +```bash +uv run python -m tools.odin.cli discover --selection standard +``` + +`--selection` names the row-set shape — it is **not** an RL policy; the RL +library axis is `--library`. Current counts: + +| Selection | Rows | Use | +|---|---|---| +| `standard` (default) | 163 (102 core / 61 contrib) | one library per task, every declared backend | +| `core-only` | 102 | fast pre-merge gate | +| `all-libraries` | 348 | RL-library comparison | +| `cross-backend` | 75 | Newton vs OvPhysX | + +Compose with `--include` / `--exclude` globs, `--library`, `--physics`, +`--scope {core,contrib,all}` and `--max_rows`. + +Two selection 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 (28 tasks). Tasks declaring no physics preset +get one row with the field omitted, since they reject any `physics=` token +(35 tasks). + +Beware that `physics=physx` does **not** mean Kit PhysX: it resolves to kitless +OvPhysX on 39 tasks and to Kit PhysX on only 5. `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 \ + --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] + [--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 + --image_b ``` Both sides run the identical row set. Side B's row keys and OSMO task names take @@ -106,8 +141,8 @@ uv run python -m tools.odin.cli harvest \ ``` 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 +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 @@ -128,7 +163,7 @@ odin_runs/ ## Preflight `dispatch` refuses to submit until two server-side checks pass (override with -`--skip-preflight`): +`--skip_preflight`): 1. `osmo data check -a WRITE` — a read-only bucket would swallow every result, and that is exactly how OSMO retired datasets. diff --git a/tools/odin/cli.py b/tools/odin/cli.py index ec23d2a73450..12ee4ce28748 100644 --- a/tools/odin/cli.py +++ b/tools/odin/cli.py @@ -26,7 +26,14 @@ from tools.odin.client import OsmoClient from tools.odin.config_file import OdinConfig, OdinConfigError, load_odin_config -from tools.odin.discover import POLICIES, DiscoveryError, discover_tasks, filter_rows, rows_for_policy, write_task_list +from tools.odin.discover import ( + SELECTIONS, + DiscoveryError, + discover_tasks, + filter_rows, + rows_for_selection, + write_task_list, +) from tools.odin.harvest import DEFAULT_TIMEOUT_HEADROOM, harvest_dispatch, write_task_metadata from tools.odin.image import DEFAULT_CUDA_IMAGE, PROFILES, ImageBuildError, build_image from tools.odin.plan import PlanError, PlannedRow, apply_metadata, chunk_rows, load_task_rows, plan_rows @@ -185,7 +192,7 @@ def _submit_and_poll( if not args.skip_preflight and not client.data_check(cfg.results_uri, access="WRITE"): print( f"[odin] {cfg.results_uri} is not writable; results would be lost. " - "Fix the bucket mode or pass --skip-preflight to override.", + "Fix the bucket mode or pass --skip_preflight to override.", file=sys.stderr, ) return 1 @@ -287,7 +294,7 @@ def command_discover(args: argparse.Namespace) -> int: """Generate the dispatch task list by walking the Gym registry.""" tasks = discover_tasks() rows = filter_rows( - rows_for_policy(tasks, args.policy), + rows_for_selection(tasks, args.selection), include=args.include, exclude=args.exclude, libraries=args.library, @@ -303,7 +310,7 @@ def command_discover(args: argparse.Namespace) -> int: rows, meta={ "generated_at": _utc_now_iso(), - "policy": args.policy, + "selection": args.selection, "task_count": len({row["task_id"] for row in rows}), "row_count": len(rows), }, @@ -345,65 +352,70 @@ def _build_parser() -> argparse.ArgumentParser: default=None, help="uv extras profile to warm; repeatable. Defaults to 'full'.", ) - 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("--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") + 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, required=True) + dispatch.add_argument("--tasks_yaml", type=Path, required=True) dispatch.add_argument("--image", type=str, required=True, 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("--image_b", type=str, default=None, help="Digest-pinned image for side B; enables A/B mode.") dispatch.add_argument("--seeds", type=_parse_seeds, required=True) dispatch.add_argument("--include", type=str, default=None, help="Glob filter over task_id.") dispatch.add_argument( - "--metadata-yaml", + "--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("--dry-run", action="store_true") + 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("--dry_run", action="store_true") dispatch.add_argument( - "--skip-preflight", + "--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")) + 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")) + 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("--policy", choices=POLICIES, default="standard") + discover.add_argument( + "--selection", + choices=SELECTIONS, + default="standard", + help="Which task/backend combinations to emit. Not an RL policy.", + ) 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("--scope", choices=["core", "contrib", "all"], default="all") - discover.add_argument("--max-rows", type=int, default=None, help="Deterministic head of the sorted order.") + 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("--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", + "--timeout_headroom", type=float, default=DEFAULT_TIMEOUT_HEADROOM, help="Multiplier applied to the slowest observed run when deriving timeout_s.", diff --git a/tools/odin/config/tasks.yaml b/tools/odin/config/tasks.yaml index 24880a76d9ec..bd6dc2e65278 100644 --- a/tools/odin/config/tasks.yaml +++ b/tools/odin/config/tasks.yaml @@ -9,8 +9,8 @@ # Sizing is absent by design: it is harvested from a real run into # task_metadata.yaml and applied as an overlay. discovery: - generated_at: '2026-07-29T14:46:22Z' - policy: standard + generated_at: '2026-07-29T14:50:50Z' + selection: standard task_count: 87 row_count: 163 tasks: diff --git a/tools/odin/discover.py b/tools/odin/discover.py index 9cfd9853a8b4..11d9fbb53576 100644 --- a/tools/odin/discover.py +++ b/tools/odin/discover.py @@ -27,24 +27,26 @@ import yaml __all__ = [ - "POLICIES", + "SELECTIONS", "RL_LIBRARY_PRIORITY", "DiscoveredTask", "DiscoveryError", "discover_tasks", "filter_rows", - "rows_for_policy", + "rows_for_selection", "write_task_list", ] -# Preferred order when a policy picks one library per task. +# Preferred order when a selection picks one library per task. 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"}) -POLICIES: tuple[str, ...] = ("standard", "core-only", "all-libraries", "cross-backend") +# Named row-set shapes. Called a *selection*, not a policy: 'policy' means the +# learned agent everywhere else in this codebase. +SELECTIONS: tuple[str, ...] = ("standard", "core-only", "all-libraries", "cross-backend") _CROSS_BACKEND_PHYSICS = ("newton_mjwarp", "ovphysx") @@ -86,12 +88,12 @@ def _canonical_physics(names: tuple[str, ...]) -> tuple[str, ...]: return tuple(kept) -def rows_for_policy(tasks: list[DiscoveredTask], policy: str) -> list[dict[str, Any]]: - """Expand discovered tasks into dispatch rows under a named policy. +def rows_for_selection(tasks: list[DiscoveredTask], selection: str) -> list[dict[str, Any]]: + """Expand discovered tasks into dispatch rows under a named selection. Args: tasks: Discovered tasks. - policy: One of :data:`POLICIES`. + selection: One of :data:`SELECTIONS`. Returns: Row dicts sorted by ``(task_id, rl_library, physics)``, each carrying @@ -99,21 +101,21 @@ def rows_for_policy(tasks: list[DiscoveredTask], policy: str) -> list[dict[str, physics preset — ``physics``. Raises: - DiscoveryError: If *policy* is unknown. + DiscoveryError: If *selection* is unknown. """ - if policy not in POLICIES: - raise DiscoveryError(f"unknown policy {policy!r}; expected one of {list(POLICIES)}") + if selection not in SELECTIONS: + raise DiscoveryError(f"unknown selection {selection!r}; expected one of {list(SELECTIONS)}") rows: list[dict[str, Any]] = [] for task in tasks: if not task.rl_libraries: continue - if policy == "core-only" and task.scope != "core": + if selection == "core-only" and task.scope != "core": continue - libraries = task.rl_libraries if policy == "all-libraries" else task.rl_libraries[:1] + libraries = task.rl_libraries if selection == "all-libraries" else task.rl_libraries[:1] physics = _canonical_physics(task.physics) - if policy == "cross-backend": + if selection == "cross-backend": physics = tuple(name for name in physics if name in _CROSS_BACKEND_PHYSICS) if not physics: continue @@ -125,9 +127,7 @@ def rows_for_policy(tasks: list[DiscoveredTask], policy: str) -> list[dict[str, rows.append({"task_id": task.task_id, "scope": task.scope, "rl_library": library}) continue for name in physics: - rows.append( - {"task_id": task.task_id, "scope": task.scope, "rl_library": library, "physics": name} - ) + rows.append({"task_id": task.task_id, "scope": task.scope, "rl_library": library, "physics": name}) rows.sort(key=lambda row: (row["task_id"], row["rl_library"], row.get("physics") or "")) return rows @@ -143,10 +143,10 @@ def filter_rows( scope: str | None = None, max_rows: int | None = None, ) -> list[dict[str, Any]]: - """Apply post-filters to policy rows. + """Apply post-filters to selection rows. Args: - rows: Rows from :func:`rows_for_policy`. + rows: Rows from :func:`rows_for_selection`. include: Glob a ``task_id`` must match. exclude: Glob a ``task_id`` must not match. libraries: Restrict to these RL libraries. @@ -193,7 +193,6 @@ def discover_tasks() -> list[DiscoveredTask]: 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: diff --git a/tools/odin/tests/test_cli.py b/tools/odin/tests/test_cli.py index 1ff13558e1a9..799ccea3600e 100644 --- a/tools/odin/tests/test_cli.py +++ b/tools/odin/tests/test_cli.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -"""End-to-end CLI wiring, exercised offline via ``--dry-run``.""" +"""End-to-end CLI wiring, exercised offline via ``--dry_run``.""" import json import shutil @@ -29,15 +29,15 @@ def _dispatch_argv(workspace: Path, *extra: str) -> list[str]: "dispatch", "--config", str(workspace / "odin.yaml"), - "--tasks-yaml", + "--tasks_yaml", str(workspace / "tasks.yaml"), "--image", "nvcr.io/nvidian/x@sha256:abc", "--seeds", "42", - "--runs-root", + "--runs_root", str(workspace / "runs"), - "--dry-run", + "--dry_run", *extra, ] @@ -59,7 +59,7 @@ def test_dry_run_dispatch_exits_zero(workspace: Path) -> None: def test_dry_run_writes_workflow_yaml_per_chunk(workspace: Path) -> None: - main(_dispatch_argv(workspace, "--chunk-size", "1")) + 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"] @@ -97,27 +97,27 @@ def test_rows_carry_no_sizing_by_default(workspace: Path) -> None: def test_ab_mode_plans_both_sides(workspace: Path) -> None: - main(_dispatch_argv(workspace, "--image-b", "nvcr.io/nvidian/x@sha256:def")) + 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")) + 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")) + 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")) + 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" @@ -141,15 +141,15 @@ def test_bad_config_path_exits_non_zero(workspace: Path, capsys) -> None: "dispatch", "--config", str(workspace / "absent.yaml"), - "--tasks-yaml", + "--tasks_yaml", str(workspace / "tasks.yaml"), "--image", "img", "--seeds", "42", - "--runs-root", + "--runs_root", str(workspace / "runs"), - "--dry-run", + "--dry_run", ] ) assert code == 1 @@ -166,9 +166,9 @@ def test_build_image_dry_run_writes_a_dockerfile(workspace: Path, tmp_path: Path "HEAD", "--profile", "full", - "--context-dir", + "--context_dir", str(tmp_path / "ctx"), - "--dry-run", + "--dry_run", ] ) assert code == 0 @@ -183,9 +183,9 @@ def test_build_image_rejects_an_unknown_ref(workspace: Path, tmp_path: Path, cap str(workspace / "odin.yaml"), "--ref", "definitely-not-a-ref-abc123", - "--context-dir", + "--context_dir", str(tmp_path / "ctx"), - "--dry-run", + "--dry_run", ] ) assert code == 1 @@ -193,7 +193,7 @@ def test_build_image_rejects_an_unknown_ref(workspace: Path, tmp_path: Path, cap def test_status_on_a_missing_dispatch_exits_non_zero(workspace: Path) -> None: - assert main(["status", "--runs-root", str(workspace / "runs"), "20260101-000000"]) != 0 + assert main(["status", "--runs_root", str(workspace / "runs"), "20260101-000000"]) != 0 def test_status_reports_job_counts(workspace: Path, capsys) -> None: @@ -201,14 +201,14 @@ def test_status_reports_job_counts(workspace: Path, capsys) -> None: dispatch_id = _dispatch_dir(workspace).name capsys.readouterr() - code = main(["status", "--runs-root", str(workspace / "runs"), dispatch_id]) + 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 + assert main(["harvest", "--runs_root", str(workspace / "runs"), "20260101-000000"]) != 0 def test_harvest_writes_metadata_from_bundles(workspace: Path, tmp_path: Path) -> None: @@ -240,12 +240,12 @@ def test_harvest_writes_metadata_from_bundles(workspace: Path, tmp_path: Path) - code = main( [ "harvest", - "--runs-root", + "--runs_root", str(workspace / "runs"), dispatch_id, "--output", str(out), - "--timeout-headroom", + "--timeout_headroom", "2.0", ] ) @@ -271,7 +271,7 @@ def test_discover_writes_a_planner_ready_task_list(workspace: Path, tmp_path: Pa ) out = tmp_path / "tasks.yaml" - assert main(["discover", "--policy", "standard", "--output", str(out)]) == 0 + assert main(["discover", "--selection", "standard", "--output", str(out)]) == 0 payload = yaml.safe_load(out.read_text()) assert payload["discovery"]["row_count"] == 2 diff --git a/tools/odin/tests/test_discover.py b/tools/odin/tests/test_discover.py index a25b34dca3bc..8efd777c231a 100644 --- a/tools/odin/tests/test_discover.py +++ b/tools/odin/tests/test_discover.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -"""Policy expansion and filtering for registry-discovered task lists. +"""Selection 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. @@ -14,7 +14,7 @@ import pytest import yaml -from tools.odin.discover import DiscoveredTask, DiscoveryError, filter_rows, rows_for_policy, write_task_list +from tools.odin.discover import DiscoveredTask, DiscoveryError, filter_rows, rows_for_selection, write_task_list from tools.odin.plan import load_task_rows, plan_rows _ANT = DiscoveredTask( @@ -32,33 +32,34 @@ renderers=(), ) # 35 real tasks declare no physics preset and reject any physics= token. -_NO_PHYSICS = DiscoveredTask( - task_id="Isaac-Intrinsic", scope="core", rl_libraries=("skrl",), physics=(), renderers=() -) +_NO_PHYSICS = DiscoveredTask(task_id="Isaac-Intrinsic", scope="core", rl_libraries=("skrl",), physics=(), renderers=()) _TASKS = [_ANT, _CONTRIB, _NO_PHYSICS] def test_standard_picks_one_library_per_task() -> None: - rows = rows_for_policy(_TASKS, "standard") + rows = rows_for_selection(_TASKS, "standard") assert {row["rl_library"] for row in rows if row["task_id"] == "Isaac-Ant"} == {"rsl_rl"} def test_all_libraries_expands_every_declared_library() -> None: - rows = rows_for_policy(_TASKS, "all-libraries") + rows = rows_for_selection(_TASKS, "all-libraries") assert {row["rl_library"] for row in rows if row["task_id"] == "Isaac-Ant"} == {"rsl_rl", "rl_games", "skrl"} def test_core_only_drops_contrib() -> None: - rows = rows_for_policy(_TASKS, "core-only") + rows = rows_for_selection(_TASKS, "core-only") assert all(row["scope"] == "core" for row in rows) def test_cross_backend_keeps_only_the_two_compared_backends() -> None: task = DiscoveredTask( - task_id="Isaac-X", scope="core", rl_libraries=("rsl_rl",), - physics=("newton_mjwarp", "ovphysx", "newton_kamino"), renderers=(), + task_id="Isaac-X", + scope="core", + rl_libraries=("rsl_rl",), + physics=("newton_mjwarp", "ovphysx", "newton_kamino"), + renderers=(), ) - rows = rows_for_policy([task], "cross-backend") + rows = rows_for_selection([task], "cross-backend") assert {row["physics"] for row in rows} == {"newton_mjwarp", "ovphysx"} @@ -67,71 +68,72 @@ def test_physx_is_dropped_when_ovphysx_is_also_declared() -> None: task = DiscoveredTask( task_id="Isaac-X", scope="core", rl_libraries=("rsl_rl",), physics=("physx", "ovphysx"), renderers=() ) - assert {row["physics"] for row in rows_for_policy([task], "standard")} == {"ovphysx"} + assert {row["physics"] for row in rows_for_selection([task], "standard")} == {"ovphysx"} def test_physx_is_kept_when_ovphysx_is_absent() -> None: - task = DiscoveredTask( - task_id="Isaac-X", scope="core", rl_libraries=("rsl_rl",), physics=("physx",), renderers=() - ) - assert {row["physics"] for row in rows_for_policy([task], "standard")} == {"physx"} + task = DiscoveredTask(task_id="Isaac-X", scope="core", rl_libraries=("rsl_rl",), physics=("physx",), renderers=()) + assert {row["physics"] for row in rows_for_selection([task], "standard")} == {"physx"} def test_proxy_backend_is_never_dispatched() -> None: task = DiscoveredTask( - task_id="Isaac-X", scope="core", rl_libraries=("rsl_rl",), - physics=("newton_mjwarp", "newton_mjwarp_vbd_proxy"), renderers=(), + task_id="Isaac-X", + scope="core", + rl_libraries=("rsl_rl",), + physics=("newton_mjwarp", "newton_mjwarp_vbd_proxy"), + renderers=(), ) - assert {row["physics"] for row in rows_for_policy([task], "standard")} == {"newton_mjwarp"} + assert {row["physics"] for row in rows_for_selection([task], "standard")} == {"newton_mjwarp"} def test_task_without_physics_gets_exactly_one_row_with_no_token() -> None: - rows = [row for row in rows_for_policy(_TASKS, "standard") if row["task_id"] == "Isaac-Intrinsic"] + rows = [row for row in rows_for_selection(_TASKS, "standard") 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=(), physics=(), renderers=()) - assert rows_for_policy([task], "standard") == [] + assert rows_for_selection([task], "standard") == [] def test_rows_are_deterministic() -> None: - assert rows_for_policy(_TASKS, "standard") == rows_for_policy(list(reversed(_TASKS)), "standard") + assert rows_for_selection(_TASKS, "standard") == rows_for_selection(list(reversed(_TASKS)), "standard") -def test_unknown_policy_is_rejected() -> None: +def test_unknown_selection_is_rejected() -> None: with pytest.raises(DiscoveryError, match="quantum"): - rows_for_policy(_TASKS, "quantum") + rows_for_selection(_TASKS, "quantum") def test_scope_filter_uses_the_explicit_field() -> None: - rows = rows_for_policy(_TASKS, "standard") + rows = rows_for_selection(_TASKS, "standard") assert {row["task_id"] for row in filter_rows(rows, scope="contrib")} == {"IsaacContrib-Walk"} def test_include_and_exclude_globs_compose() -> None: - rows = rows_for_policy(_TASKS, "standard") + rows = rows_for_selection(_TASKS, "standard") 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 = rows_for_policy(_TASKS, "standard") + rows = rows_for_selection(_TASKS, "standard") assert [r["task_id"] for r in filter_rows(rows, physics=["default"])] == ["Isaac-Intrinsic"] def test_max_rows_is_a_deterministic_head() -> None: - rows = rows_for_policy(_TASKS, "standard") + rows = rows_for_selection(_TASKS, "standard") 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 = rows_for_policy(_TASKS, "standard") + rows = rows_for_selection(_TASKS, "standard") - write_task_list(out, rows, meta={"policy": "standard", "row_count": len(rows)}) + write_task_list(out, rows, meta={"selection": "standard", "row_count": len(rows)}) planned = plan_rows(task_rows=load_task_rows(out), seeds=[42]) assert len(planned) == len(rows) @@ -140,6 +142,6 @@ def test_written_list_is_consumable_by_the_planner(tmp_path: Path) -> None: def test_provenance_header_is_ignored_by_the_planner(tmp_path: Path) -> None: out = tmp_path / "tasks.yaml" - write_task_list(out, rows_for_policy(_TASKS, "standard"), meta={"policy": "standard"}) - assert yaml.safe_load(out.read_text())["discovery"]["policy"] == "standard" + write_task_list(out, rows_for_selection(_TASKS, "standard"), meta={"selection": "standard"}) + assert yaml.safe_load(out.read_text())["discovery"]["selection"] == "standard" assert load_task_rows(out) # header does not leak into the rows From 7c184f5cccf6077007f64b1b8b6d4b84c2db35e2 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 17:01:39 +0200 Subject: [PATCH 20/33] Return legal physics/renderer modes from discovery Renderers were discovered and then silently dropped, so a camera task was expanded across physics only and benchmarked headless -- measuring everything except the thing under test. All four renderers on Isaac-Cartpole-Camera-Direct were being discarded. Discovery now returns a task's legal modes directly rather than raw axes, so nothing downstream reconstructs the cross product or reasons about which pairings are rejected. The cross product is not all legal: OVRTX is kitless and cannot share a process with Kit physics, so isaacsim_physx + ovrtx is refused and 15 of 16 pairings survive. Each pairing is checked against the runtime validator, which costs about seven seconds for the whole registry. Row keys gain a renderer segment. Without it the renderer variants of one task collapse onto a single key -- caught by the existing duplicate guard. Headless keys are unchanged. 87 tasks now yield 429 rows, 109 of them carrying a renderer across the five camera-capable tasks. --- tools/odin/README.md | 47 +- tools/odin/cli.py | 20 +- tools/odin/config/tasks.yaml | 1332 +++++++++++++++++++++++++++-- tools/odin/discover.py | 179 ++-- tools/odin/plan.py | 23 +- tools/odin/tests/test_cli.py | 10 +- tools/odin/tests/test_discover.py | 116 ++- tools/odin/tests/test_plan.py | 15 + 8 files changed, 1497 insertions(+), 245 deletions(-) diff --git a/tools/odin/README.md b/tools/odin/README.md index 3334cde832ae..c799771b3e15 100644 --- a/tools/odin/README.md +++ b/tools/odin/README.md @@ -65,23 +65,46 @@ comparison compared. Discovery over the Gym registry is the default row source: ```bash -uv run python -m tools.odin.cli discover --selection standard +uv run python -m tools.odin.cli discover ``` -`--selection` names the row-set shape — it is **not** an RL policy; the RL -library axis is `--library`. Current counts: +Expansion is **total** — every task, every RL library it declares, and every +*legal mode* it supports — and filters are the only way to narrow. -| Selection | Rows | Use | -|---|---|---| -| `standard` (default) | 163 (102 core / 61 contrib) | one library per task, every declared backend | -| `core-only` | 102 | fast pre-merge gate | -| `all-libraries` | 348 | RL-library comparison | -| `cross-backend` | 75 | Newton vs OvPhysX | +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 — 15 of the 16 +pairings survive for a Cartpole camera task. Discovery checks each pairing +against the runtime validator, which costs about 7 seconds for the whole +registry and saves finding out on a GPU. + +Current shape: **87 tasks → 429 rows**, of which 109 carry a renderer across the +5 camera-capable tasks. + +| 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) | +| `--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 -Compose with `--include` / `--exclude` globs, `--library`, `--physics`, -`--scope {core,contrib,all}` and `--max_rows`. +# Core only +uv run python -m tools.odin.cli discover --scope core --library rsl_rl +``` -Two selection rules worth knowing. `physx` is dropped from any task that also +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 (28 tasks). Tasks declaring no physics preset get one row with the field omitted, since they reject any `physics=` token diff --git a/tools/odin/cli.py b/tools/odin/cli.py index 12ee4ce28748..e9d1b0b665a2 100644 --- a/tools/odin/cli.py +++ b/tools/odin/cli.py @@ -26,14 +26,7 @@ from tools.odin.client import OsmoClient from tools.odin.config_file import OdinConfig, OdinConfigError, load_odin_config -from tools.odin.discover import ( - SELECTIONS, - DiscoveryError, - discover_tasks, - filter_rows, - rows_for_selection, - write_task_list, -) +from tools.odin.discover import DiscoveryError, discover_tasks, expand_rows, filter_rows, write_task_list from tools.odin.harvest import DEFAULT_TIMEOUT_HEADROOM, harvest_dispatch, write_task_metadata from tools.odin.image import DEFAULT_CUDA_IMAGE, PROFILES, ImageBuildError, build_image from tools.odin.plan import PlanError, PlannedRow, apply_metadata, chunk_rows, load_task_rows, plan_rows @@ -294,11 +287,12 @@ def command_discover(args: argparse.Namespace) -> int: """Generate the dispatch task list by walking the Gym registry.""" tasks = discover_tasks() rows = filter_rows( - rows_for_selection(tasks, args.selection), + expand_rows(tasks), include=args.include, exclude=args.exclude, libraries=args.library, physics=args.physics, + renderers=args.renderer, scope=args.scope, max_rows=args.max_rows, ) @@ -310,7 +304,6 @@ def command_discover(args: argparse.Namespace) -> int: rows, meta={ "generated_at": _utc_now_iso(), - "selection": args.selection, "task_count": len({row["task_id"] for row in rows}), "row_count": len(rows), }, @@ -392,17 +385,12 @@ def _build_parser() -> argparse.ArgumentParser: 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( - "--selection", - choices=SELECTIONS, - default="standard", - help="Which task/backend combinations to emit. Not an RL policy.", - ) 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("--scope", choices=["core", "contrib", "all"], default="all") discover.add_argument("--max_rows", type=int, default=None, help="Deterministic head of the sorted order.") diff --git a/tools/odin/config/tasks.yaml b/tools/odin/config/tasks.yaml index bd6dc2e65278..7352b9e1839e 100644 --- a/tools/odin/config/tasks.yaml +++ b/tools/odin/config/tasks.yaml @@ -9,11 +9,22 @@ # Sizing is absent by design: it is harvested from a real run into # task_metadata.yaml and applied as an overlay. discovery: - generated_at: '2026-07-29T14:50:50Z' - selection: standard + generated_at: '2026-07-29T15:01:23Z' task_count: 87 - row_count: 163 + row_count: 429 tasks: +- task_id: Isaac-Ant + scope: core + rl_library: rl_games + physics: newton_kamino +- task_id: Isaac-Ant + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Ant + scope: core + rl_library: rl_games + physics: physx - task_id: Isaac-Ant scope: core rl_library: rsl_rl @@ -26,6 +37,46 @@ tasks: scope: core rl_library: rsl_rl physics: physx +- task_id: Isaac-Ant + scope: core + rl_library: sb3 + physics: newton_kamino +- task_id: Isaac-Ant + scope: core + rl_library: sb3 + physics: newton_mjwarp +- task_id: Isaac-Ant + scope: core + rl_library: sb3 + physics: physx +- task_id: Isaac-Ant + scope: core + rl_library: skrl + physics: newton_kamino +- task_id: Isaac-Ant + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Ant + scope: core + rl_library: skrl + physics: physx +- task_id: Isaac-Ant-Direct + scope: core + rl_library: rl_games + physics: isaacsim_physx +- task_id: Isaac-Ant-Direct + scope: core + rl_library: rl_games + physics: newton_kamino +- task_id: Isaac-Ant-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Ant-Direct + scope: core + rl_library: rl_games + physics: ovphysx - task_id: Isaac-Ant-Direct scope: core rl_library: rsl_rl @@ -42,6 +93,34 @@ tasks: scope: core rl_library: rsl_rl physics: ovphysx +- task_id: Isaac-Ant-Direct + scope: core + rl_library: skrl + physics: isaacsim_physx +- task_id: Isaac-Ant-Direct + scope: core + rl_library: skrl + physics: newton_kamino +- task_id: Isaac-Ant-Direct + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Ant-Direct + scope: core + rl_library: skrl + physics: ovphysx +- task_id: Isaac-Cartpole + scope: core + rl_library: rl_games + physics: newton_kamino +- task_id: Isaac-Cartpole + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Cartpole + scope: core + rl_library: rl_games + physics: ovphysx - task_id: Isaac-Cartpole scope: core rl_library: rsl_rl @@ -54,202 +133,919 @@ tasks: scope: core rl_library: rsl_rl physics: ovphysx +- task_id: Isaac-Cartpole + scope: core + rl_library: sb3 + physics: newton_kamino +- task_id: Isaac-Cartpole + scope: core + rl_library: sb3 + physics: newton_mjwarp +- task_id: Isaac-Cartpole + scope: core + rl_library: sb3 + physics: ovphysx +- task_id: Isaac-Cartpole + scope: core + rl_library: skrl + physics: newton_kamino +- task_id: Isaac-Cartpole + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Cartpole + scope: core + rl_library: skrl + physics: ovphysx +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: isaacsim_rtx +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: newton_renderer +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: ovrtx +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: rtx +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: isaacsim_rtx +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: newton_renderer +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: ovrtx +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: rtx +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: isaacsim_rtx +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: newton_renderer +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: ovrtx +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: rtx +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: isaacsim_rtx +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: newton_renderer +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: ovrtx - task_id: Isaac-Cartpole-Camera scope: core rl_library: rsl_rl physics: newton_kamino + renderer: rtx +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx - task_id: Isaac-Cartpole-Camera scope: core rl_library: rsl_rl physics: newton_mjwarp + renderer: rtx - task_id: Isaac-Cartpole-Camera scope: core rl_library: rsl_rl physics: ovphysx -- task_id: Isaac-Cartpole-Camera-Direct + renderer: isaacsim_rtx +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer +- task_id: Isaac-Cartpole-Camera scope: core rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rl_games physics: isaacsim_physx + renderer: isaacsim_rtx - task_id: Isaac-Cartpole-Camera-Direct scope: core - rl_library: rsl_rl + rl_library: rl_games + physics: isaacsim_physx + renderer: newton_renderer +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rl_games + physics: isaacsim_physx + renderer: rtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rl_games physics: newton_kamino + renderer: isaacsim_rtx - task_id: Isaac-Cartpole-Camera-Direct scope: core - rl_library: rsl_rl + rl_library: rl_games + physics: newton_kamino + renderer: newton_renderer +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: ovrtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: rtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rl_games physics: newton_mjwarp + renderer: isaacsim_rtx - task_id: Isaac-Cartpole-Camera-Direct scope: core - rl_library: rsl_rl + rl_library: rl_games + physics: newton_mjwarp + renderer: newton_renderer +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: ovrtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: rtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rl_games physics: ovphysx -- task_id: Isaac-Cartpole-Direct + renderer: isaacsim_rtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rl_games + physics: ovphysx + renderer: newton_renderer +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rl_games + physics: ovphysx + renderer: ovrtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rl_games + physics: ovphysx + renderer: rtx +- task_id: Isaac-Cartpole-Camera-Direct scope: core rl_library: rsl_rl physics: isaacsim_physx -- task_id: Isaac-Cartpole-Direct + renderer: isaacsim_rtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rsl_rl + physics: isaacsim_physx + renderer: newton_renderer +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rsl_rl + physics: isaacsim_physx + renderer: rtx +- task_id: Isaac-Cartpole-Camera-Direct scope: core rl_library: rsl_rl physics: newton_kamino -- task_id: Isaac-Cartpole-Direct + renderer: isaacsim_rtx +- task_id: Isaac-Cartpole-Camera-Direct scope: core rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Cartpole-Direct + physics: newton_kamino + renderer: newton_renderer +- task_id: Isaac-Cartpole-Camera-Direct scope: core rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Fourbar-Pole-Swingup + physics: newton_kamino + renderer: ovrtx +- task_id: Isaac-Cartpole-Camera-Direct scope: core rl_library: rsl_rl physics: newton_kamino + renderer: rtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: isaacsim_physx + renderer: isaacsim_rtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: isaacsim_physx + renderer: newton_renderer +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: isaacsim_physx + renderer: rtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: newton_kamino + renderer: isaacsim_rtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: newton_kamino + renderer: newton_renderer +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: newton_kamino + renderer: ovrtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: newton_kamino + renderer: rtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: newton_mjwarp + renderer: isaacsim_rtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: newton_mjwarp + renderer: newton_renderer +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: newton_mjwarp + renderer: ovrtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: newton_mjwarp + renderer: rtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: isaacsim_rtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: newton_renderer +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: ovrtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: rtx +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: rl_games + physics: isaacsim_physx +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: rl_games + physics: newton_kamino +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: rl_games + physics: ovphysx +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: rsl_rl + physics: isaacsim_physx +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: sb3 + physics: isaacsim_physx +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: sb3 + physics: newton_kamino +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: sb3 + physics: newton_mjwarp +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: sb3 + physics: ovphysx +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: skrl + physics: isaacsim_physx +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: skrl + physics: newton_kamino +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: skrl + physics: ovphysx +- task_id: Isaac-Fourbar-Pole-Swingup + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Humanoid + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Humanoid + scope: core + rl_library: rl_games + physics: physx +- task_id: Isaac-Humanoid + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Humanoid + scope: core + rl_library: rsl_rl + physics: physx - task_id: Isaac-Humanoid + scope: core + rl_library: sb3 + physics: newton_mjwarp +- task_id: Isaac-Humanoid + scope: core + rl_library: sb3 + physics: physx +- task_id: Isaac-Humanoid + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Humanoid + scope: core + rl_library: skrl + physics: physx +- task_id: Isaac-Humanoid-Direct + scope: core + rl_library: rl_games + physics: isaacsim_physx +- task_id: Isaac-Humanoid-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Humanoid-Direct + scope: core + rl_library: rl_games + physics: ovphysx +- task_id: Isaac-Humanoid-Direct + scope: core + rl_library: rsl_rl + physics: isaacsim_physx +- task_id: Isaac-Humanoid-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Humanoid-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Humanoid-Direct + scope: core + rl_library: skrl + physics: isaacsim_physx +- task_id: Isaac-Humanoid-Direct + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Humanoid-Direct + scope: core + rl_library: skrl + physics: ovphysx +- task_id: Isaac-Lift-Cloth-Franka + scope: core + rl_library: rsl_rl + physics: newton_mjwarp_vbd +- task_id: Isaac-Lift-Cube-Franka + scope: core + rl_library: rl_games +- task_id: Isaac-Lift-Cube-Franka + scope: core + rl_library: rsl_rl +- task_id: Isaac-Lift-Cube-Franka + scope: core + rl_library: sb3 +- task_id: Isaac-Lift-Cube-Franka + scope: core + rl_library: skrl +- task_id: Isaac-Lift-Franka + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Lift-Franka + scope: core + rl_library: rsl_rl + physics: physx +- task_id: Isaac-Lift-KukaAllegro + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Lift-KukaAllegro + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx +- task_id: Isaac-Lift-Soft-Franka + scope: core + rl_library: rsl_rl + physics: newton_mjwarp_vbd +- task_id: Isaac-Lift-Soft-Franka + scope: core + rl_library: rsl_rl + physics: physx +- task_id: Isaac-Open-Drawer-Franka + scope: core + rl_library: rl_games +- task_id: Isaac-Open-Drawer-Franka + scope: core + rl_library: rsl_rl +- task_id: Isaac-Open-Drawer-Franka + scope: core + rl_library: skrl +- task_id: Isaac-Open-Drawer-Franka-Direct + scope: core + rl_library: rl_games + physics: isaacsim_physx +- task_id: Isaac-Open-Drawer-Franka-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Open-Drawer-Franka-Direct + scope: core + rl_library: rl_games + physics: ovphysx +- task_id: Isaac-Open-Drawer-Franka-Direct + scope: core + rl_library: rsl_rl + physics: isaacsim_physx +- task_id: Isaac-Open-Drawer-Franka-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Open-Drawer-Franka-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Open-Drawer-Franka-Direct + scope: core + rl_library: skrl + physics: isaacsim_physx +- task_id: Isaac-Open-Drawer-Franka-Direct + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Open-Drawer-Franka-Direct + scope: core + rl_library: skrl + physics: ovphysx +- task_id: Isaac-Pendulum-Direct + scope: core + rl_library: rl_games +- task_id: Isaac-Pendulum-Direct + scope: core + rl_library: skrl +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rl_games + physics: isaacsim_physx +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rl_games + physics: newton_kamino +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rl_games + physics: ovphysx +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: isaacsim_physx +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Reach-Franka + scope: core + rl_library: skrl + physics: isaacsim_physx +- task_id: Isaac-Reach-Franka + scope: core + rl_library: skrl + physics: newton_kamino +- task_id: Isaac-Reach-Franka + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Reach-Franka + scope: core + rl_library: skrl + physics: ovphysx +- task_id: Isaac-Reach-Franka-OSC + scope: core + rl_library: rsl_rl + physics: isaacsim_physx +- task_id: Isaac-Reach-Franka-OSC + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Reach-Franka-OSC + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reach-Franka-OSC + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: rl_games + physics: isaacsim_physx +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: rl_games + physics: newton_kamino +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: rl_games + physics: ovphysx +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: rsl_rl + physics: isaacsim_physx +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Reach-UR10 scope: core rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Humanoid +- task_id: Isaac-Reach-UR10 scope: core rl_library: rsl_rl - physics: physx -- task_id: Isaac-Humanoid-Direct + physics: ovphysx +- task_id: Isaac-Reach-UR10 scope: core - rl_library: rsl_rl + rl_library: skrl physics: isaacsim_physx -- task_id: Isaac-Humanoid-Direct +- task_id: Isaac-Reach-UR10 scope: core - rl_library: rsl_rl + rl_library: skrl + physics: newton_kamino +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: skrl physics: newton_mjwarp -- task_id: Isaac-Humanoid-Direct +- task_id: Isaac-Reach-UR10 scope: core - rl_library: rsl_rl + rl_library: skrl physics: ovphysx -- task_id: Isaac-Lift-Cloth-Franka +- task_id: Isaac-Reorient-Cube-Allegro scope: core - rl_library: rsl_rl - physics: newton_mjwarp_vbd -- task_id: Isaac-Lift-Cube-Franka + rl_library: rl_games +- task_id: Isaac-Reorient-Cube-Allegro scope: core rl_library: rsl_rl -- task_id: Isaac-Lift-Franka +- task_id: Isaac-Reorient-Cube-Allegro scope: core - rl_library: rsl_rl + rl_library: skrl +- task_id: Isaac-Reorient-Cube-Allegro-Direct + scope: core + rl_library: rl_games physics: newton_mjwarp -- task_id: Isaac-Lift-Franka +- task_id: Isaac-Reorient-Cube-Allegro-Direct scope: core - rl_library: rsl_rl - physics: physx -- task_id: Isaac-Lift-KukaAllegro + rl_library: rl_games + physics: ovphysx +- task_id: Isaac-Reorient-Cube-Allegro-Direct scope: core rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Lift-KukaAllegro +- task_id: Isaac-Reorient-Cube-Allegro-Direct scope: core rl_library: rsl_rl physics: ovphysx -- task_id: Isaac-Lift-KukaAllegro-Camera +- task_id: Isaac-Reorient-Cube-Allegro-Direct scope: core - rl_library: rsl_rl + rl_library: skrl physics: newton_mjwarp -- task_id: Isaac-Lift-KukaAllegro-Camera +- task_id: Isaac-Reorient-Cube-Allegro-Direct scope: core - rl_library: rsl_rl + rl_library: skrl physics: ovphysx -- task_id: Isaac-Lift-Soft-Franka +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core - rl_library: rsl_rl - physics: newton_mjwarp_vbd -- task_id: Isaac-Lift-Soft-Franka + rl_library: rl_games + physics: newton_kamino + renderer: isaacsim_rtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core - rl_library: rsl_rl - physics: physx -- task_id: Isaac-Open-Drawer-Franka + rl_library: rl_games + physics: newton_kamino + renderer: newton_renderer +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core - rl_library: rsl_rl -- task_id: Isaac-Open-Drawer-Franka-Direct + rl_library: rl_games + physics: newton_kamino + renderer: ovrtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core - rl_library: rsl_rl - physics: isaacsim_physx -- task_id: Isaac-Open-Drawer-Franka-Direct + rl_library: rl_games + physics: newton_kamino + renderer: rtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core - rl_library: rsl_rl + rl_library: rl_games physics: newton_mjwarp -- task_id: Isaac-Open-Drawer-Franka-Direct + renderer: isaacsim_rtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Pendulum-Direct + rl_library: rl_games + physics: newton_mjwarp + renderer: newton_renderer +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core rl_library: rl_games -- task_id: Isaac-Reach-Franka + physics: newton_mjwarp + renderer: ovrtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core - rl_library: rsl_rl - physics: isaacsim_physx -- task_id: Isaac-Reach-Franka + rl_library: rl_games + physics: newton_mjwarp + renderer: rtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core - rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Reach-Franka + rl_library: rl_games + physics: ovphysx + renderer: isaacsim_rtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Reach-Franka + rl_library: rl_games + physics: ovphysx + renderer: newton_renderer +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core - rl_library: rsl_rl + rl_library: rl_games physics: ovphysx -- task_id: Isaac-Reach-Franka-OSC + renderer: ovrtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core - rl_library: rsl_rl - physics: isaacsim_physx -- task_id: Isaac-Reach-Franka-OSC + rl_library: rl_games + physics: ovphysx + renderer: rtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core rl_library: rsl_rl physics: newton_kamino -- task_id: Isaac-Reach-Franka-OSC - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Reach-Franka-OSC + renderer: isaacsim_rtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Reach-UR10 + physics: newton_kamino + renderer: newton_renderer +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core rl_library: rsl_rl - physics: isaacsim_physx -- task_id: Isaac-Reach-UR10 + physics: newton_kamino + renderer: ovrtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core rl_library: rsl_rl physics: newton_kamino -- task_id: Isaac-Reach-UR10 + renderer: rtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Reach-UR10 + renderer: isaacsim_rtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Reorient-Cube-Allegro + physics: newton_mjwarp + renderer: newton_renderer +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core rl_library: rsl_rl -- task_id: Isaac-Reorient-Cube-Allegro-Direct + physics: newton_mjwarp + renderer: ovrtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Allegro-Direct + renderer: rtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core rl_library: rsl_rl physics: ovphysx + renderer: isaacsim_rtx - task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core rl_library: rsl_rl - physics: newton_kamino + physics: ovphysx + renderer: newton_renderer - task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core rl_library: rsl_rl - physics: newton_mjwarp + physics: ovphysx + renderer: ovrtx - task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct scope: core rl_library: rsl_rl physics: ovphysx + renderer: rtx +- task_id: Isaac-Reorient-Cube-Shadow-Direct + scope: core + rl_library: rl_games + physics: newton_kamino +- task_id: Isaac-Reorient-Cube-Shadow-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Reorient-Cube-Shadow-Direct + scope: core + rl_library: rl_games + physics: ovphysx - task_id: Isaac-Reorient-Cube-Shadow-Direct scope: core rl_library: rsl_rl @@ -262,6 +1058,30 @@ tasks: scope: core rl_library: rsl_rl physics: ovphysx +- task_id: Isaac-Reorient-Cube-Shadow-Direct + scope: core + rl_library: skrl + physics: newton_kamino +- task_id: Isaac-Reorient-Cube-Shadow-Direct + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Reorient-Cube-Shadow-Direct + scope: core + rl_library: skrl + physics: ovphysx +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct + scope: core + rl_library: rl_games + physics: newton_kamino +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct + scope: core + rl_library: rl_games + physics: ovphysx - task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct scope: core rl_library: rsl_rl @@ -274,6 +1094,30 @@ tasks: scope: core rl_library: rsl_rl physics: ovphysx +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct + scope: core + rl_library: skrl + physics: newton_kamino +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct + scope: core + rl_library: skrl + physics: ovphysx +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct + scope: core + rl_library: rl_games + physics: newton_kamino +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct + scope: core + rl_library: rl_games + physics: ovphysx - task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct scope: core rl_library: rsl_rl @@ -306,25 +1150,81 @@ tasks: scope: core rl_library: rsl_rl physics: newton_mjwarp + renderer: isaacsim_rtx +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx - task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rsl_rl + rl_library: rsl_rl + physics: ovphysx + renderer: rtx +- task_id: Isaac-Shadow-Handover-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Shadow-Handover-Direct + scope: core + rl_library: rl_games + physics: ovphysx +- task_id: Isaac-Shadow-Handover-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Shadow-Handover-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Shadow-Handover-Direct + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Shadow-Handover-Direct + scope: core + rl_library: skrl physics: ovphysx -- task_id: Isaac-Shadow-Handover-Direct +- task_id: Isaac-Velocity-Flat-AnymalD scope: core rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Shadow-Handover-Direct +- task_id: Isaac-Velocity-Flat-AnymalD scope: core rl_library: rsl_rl physics: ovphysx - task_id: Isaac-Velocity-Flat-AnymalD scope: core - rl_library: rsl_rl + rl_library: skrl physics: newton_mjwarp - task_id: Isaac-Velocity-Flat-AnymalD scope: core - rl_library: rsl_rl + rl_library: skrl physics: ovphysx - task_id: Isaac-Velocity-Flat-Cassie scope: core @@ -338,6 +1238,18 @@ tasks: scope: core rl_library: rsl_rl physics: physx +- task_id: Isaac-Velocity-Flat-Cassie + scope: core + rl_library: skrl + physics: newton_kamino +- task_id: Isaac-Velocity-Flat-Cassie + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Flat-Cassie + scope: core + rl_library: skrl + physics: physx - task_id: Isaac-Velocity-Flat-G1 scope: core rl_library: rsl_rl @@ -346,6 +1258,14 @@ tasks: scope: core rl_library: rsl_rl physics: newton_mjwarp +- task_id: Isaac-Velocity-Flat-G1 + scope: core + rl_library: skrl + physics: newton_kamino +- task_id: Isaac-Velocity-Flat-G1 + scope: core + rl_library: skrl + physics: newton_mjwarp - task_id: Isaac-Velocity-Flat-H1 scope: core rl_library: rsl_rl @@ -358,6 +1278,18 @@ tasks: scope: core rl_library: rsl_rl physics: physx +- task_id: Isaac-Velocity-Flat-H1 + scope: core + rl_library: skrl + physics: newton_kamino +- task_id: Isaac-Velocity-Flat-H1 + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Flat-H1 + scope: core + rl_library: skrl + physics: physx - task_id: Isaac-Velocity-Flat-Spot scope: core rl_library: rsl_rl @@ -366,6 +1298,14 @@ tasks: scope: core rl_library: rsl_rl physics: newton_mjwarp +- task_id: Isaac-Velocity-Flat-Spot + scope: core + rl_library: skrl + physics: newton_kamino +- task_id: Isaac-Velocity-Flat-Spot + scope: core + rl_library: skrl + physics: newton_mjwarp - task_id: Isaac-Velocity-Flat-UnitreeGo2 scope: core rl_library: rsl_rl @@ -378,6 +1318,18 @@ tasks: scope: core rl_library: rsl_rl physics: physx +- task_id: Isaac-Velocity-Flat-UnitreeGo2 + scope: core + rl_library: skrl + physics: newton_kamino +- task_id: Isaac-Velocity-Flat-UnitreeGo2 + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Flat-UnitreeGo2 + scope: core + rl_library: skrl + physics: physx - task_id: Isaac-Velocity-Rough-AnymalD scope: core rl_library: rsl_rl @@ -386,6 +1338,14 @@ tasks: scope: core rl_library: rsl_rl physics: ovphysx +- task_id: Isaac-Velocity-Rough-AnymalD + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Rough-AnymalD + scope: core + rl_library: skrl + physics: ovphysx - task_id: Isaac-Velocity-Rough-Cassie scope: core rl_library: rsl_rl @@ -394,6 +1354,14 @@ tasks: scope: core rl_library: rsl_rl physics: ovphysx +- task_id: Isaac-Velocity-Rough-Cassie + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Rough-Cassie + scope: core + rl_library: skrl + physics: ovphysx - task_id: Isaac-Velocity-Rough-G1 scope: core rl_library: rsl_rl @@ -402,6 +1370,14 @@ tasks: scope: core rl_library: rsl_rl physics: ovphysx +- task_id: Isaac-Velocity-Rough-G1 + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Rough-G1 + scope: core + rl_library: skrl + physics: ovphysx - task_id: Isaac-Velocity-Rough-H1 scope: core rl_library: rsl_rl @@ -410,6 +1386,14 @@ tasks: scope: core rl_library: rsl_rl physics: ovphysx +- task_id: Isaac-Velocity-Rough-H1 + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Rough-H1 + scope: core + rl_library: skrl + physics: ovphysx - task_id: Isaac-Velocity-Rough-UnitreeGo2 scope: core rl_library: rsl_rl @@ -418,6 +1402,14 @@ tasks: scope: core rl_library: rsl_rl physics: ovphysx +- task_id: Isaac-Velocity-Rough-UnitreeGo2 + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Rough-UnitreeGo2 + scope: core + rl_library: skrl + physics: ovphysx - task_id: IsaacContrib-AutoMate-Assembly-Direct scope: contrib rl_library: rl_games @@ -516,27 +1508,57 @@ tasks: - task_id: IsaacContrib-Humanoid-AMP-Walk-Direct scope: contrib rl_library: skrl +- task_id: IsaacContrib-Lift-Cube-OpenArm + scope: contrib + rl_library: rl_games - task_id: IsaacContrib-Lift-Cube-OpenArm scope: contrib rl_library: rsl_rl +- task_id: IsaacContrib-Navigation-3DObstacles-ARL-Robot-1 + scope: contrib + rl_library: rl_games - task_id: IsaacContrib-Navigation-3DObstacles-ARL-Robot-1 scope: contrib rl_library: rsl_rl +- task_id: IsaacContrib-Navigation-3DObstacles-ARL-Robot-1 + scope: contrib + rl_library: skrl - task_id: IsaacContrib-Navigation-Flat-AnymalC scope: contrib rl_library: rsl_rl +- task_id: IsaacContrib-Navigation-Flat-AnymalC + scope: contrib + rl_library: skrl +- task_id: IsaacContrib-Open-Drawer-OpenArm + scope: contrib + rl_library: rl_games - task_id: IsaacContrib-Open-Drawer-OpenArm scope: contrib rl_library: rsl_rl +- task_id: IsaacContrib-Reach-OpenArm + scope: contrib + rl_library: rl_games - task_id: IsaacContrib-Reach-OpenArm scope: contrib rl_library: rsl_rl +- task_id: IsaacContrib-Reach-OpenArm + scope: contrib + rl_library: skrl +- task_id: IsaacContrib-Reach-OpenArmBi + scope: contrib + rl_library: rl_games - task_id: IsaacContrib-Reach-OpenArmBi scope: contrib rl_library: rsl_rl +- task_id: IsaacContrib-TrackPositionNoObstacles-ARL-Robot-1 + scope: contrib + rl_library: rl_games - task_id: IsaacContrib-TrackPositionNoObstacles-ARL-Robot-1 scope: contrib rl_library: rsl_rl +- task_id: IsaacContrib-TrackPositionNoObstacles-ARL-Robot-1 + scope: contrib + rl_library: skrl - task_id: IsaacContrib-Tracking-LocoManip-Digit scope: contrib rl_library: rsl_rl @@ -553,6 +1575,30 @@ tasks: scope: contrib rl_library: rsl_rl physics: physx +- task_id: IsaacContrib-Velocity-Flat-AnymalB + scope: contrib + rl_library: skrl + physics: newton_kamino +- task_id: IsaacContrib-Velocity-Flat-AnymalB + scope: contrib + rl_library: skrl + physics: newton_mjwarp +- task_id: IsaacContrib-Velocity-Flat-AnymalB + scope: contrib + rl_library: skrl + physics: physx +- task_id: IsaacContrib-Velocity-Flat-AnymalC + scope: contrib + rl_library: rl_games + physics: newton_kamino +- task_id: IsaacContrib-Velocity-Flat-AnymalC + scope: contrib + rl_library: rl_games + physics: newton_mjwarp +- task_id: IsaacContrib-Velocity-Flat-AnymalC + scope: contrib + rl_library: rl_games + physics: physx - task_id: IsaacContrib-Velocity-Flat-AnymalC scope: contrib rl_library: rsl_rl @@ -565,9 +1611,27 @@ tasks: scope: contrib rl_library: rsl_rl physics: physx +- task_id: IsaacContrib-Velocity-Flat-AnymalC + scope: contrib + rl_library: skrl + physics: newton_kamino +- task_id: IsaacContrib-Velocity-Flat-AnymalC + scope: contrib + rl_library: skrl + physics: newton_mjwarp +- task_id: IsaacContrib-Velocity-Flat-AnymalC + scope: contrib + rl_library: skrl + physics: physx +- task_id: IsaacContrib-Velocity-Flat-AnymalC-Direct + scope: contrib + rl_library: rl_games - task_id: IsaacContrib-Velocity-Flat-AnymalC-Direct scope: contrib rl_library: rsl_rl +- task_id: IsaacContrib-Velocity-Flat-AnymalC-Direct + scope: contrib + rl_library: skrl - task_id: IsaacContrib-Velocity-Flat-Digit scope: contrib rl_library: rsl_rl @@ -584,6 +1648,30 @@ tasks: scope: contrib rl_library: rsl_rl physics: physx +- task_id: IsaacContrib-Velocity-Flat-UnitreeA1 + scope: contrib + rl_library: sb3 + physics: newton_kamino +- task_id: IsaacContrib-Velocity-Flat-UnitreeA1 + scope: contrib + rl_library: sb3 + physics: newton_mjwarp +- task_id: IsaacContrib-Velocity-Flat-UnitreeA1 + scope: contrib + rl_library: sb3 + physics: physx +- task_id: IsaacContrib-Velocity-Flat-UnitreeA1 + scope: contrib + rl_library: skrl + physics: newton_kamino +- task_id: IsaacContrib-Velocity-Flat-UnitreeA1 + scope: contrib + rl_library: skrl + physics: newton_mjwarp +- task_id: IsaacContrib-Velocity-Flat-UnitreeA1 + scope: contrib + rl_library: skrl + physics: physx - task_id: IsaacContrib-Velocity-Flat-UnitreeGo1 scope: contrib rl_library: rsl_rl @@ -592,6 +1680,14 @@ tasks: scope: contrib rl_library: rsl_rl physics: newton_mjwarp +- task_id: IsaacContrib-Velocity-Flat-UnitreeGo1 + scope: contrib + rl_library: skrl + physics: newton_kamino +- task_id: IsaacContrib-Velocity-Flat-UnitreeGo1 + scope: contrib + rl_library: skrl + physics: newton_mjwarp - task_id: IsaacContrib-Velocity-Rough-AnymalB scope: contrib rl_library: rsl_rl @@ -600,6 +1696,22 @@ tasks: scope: contrib rl_library: rsl_rl physics: ovphysx +- task_id: IsaacContrib-Velocity-Rough-AnymalB + scope: contrib + rl_library: skrl + physics: newton_mjwarp +- task_id: IsaacContrib-Velocity-Rough-AnymalB + scope: contrib + rl_library: skrl + physics: ovphysx +- task_id: IsaacContrib-Velocity-Rough-AnymalC + scope: contrib + rl_library: rl_games + physics: newton_mjwarp +- task_id: IsaacContrib-Velocity-Rough-AnymalC + scope: contrib + rl_library: rl_games + physics: ovphysx - task_id: IsaacContrib-Velocity-Rough-AnymalC scope: contrib rl_library: rsl_rl @@ -608,9 +1720,23 @@ tasks: scope: contrib rl_library: rsl_rl physics: ovphysx +- task_id: IsaacContrib-Velocity-Rough-AnymalC + scope: contrib + rl_library: skrl + physics: newton_mjwarp +- task_id: IsaacContrib-Velocity-Rough-AnymalC + scope: contrib + rl_library: skrl + physics: ovphysx +- task_id: IsaacContrib-Velocity-Rough-AnymalC-Direct + scope: contrib + rl_library: rl_games - task_id: IsaacContrib-Velocity-Rough-AnymalC-Direct scope: contrib rl_library: rsl_rl +- task_id: IsaacContrib-Velocity-Rough-AnymalC-Direct + scope: contrib + rl_library: skrl - task_id: IsaacContrib-Velocity-Rough-Digit scope: contrib rl_library: rsl_rl @@ -623,6 +1749,22 @@ tasks: scope: contrib rl_library: rsl_rl physics: ovphysx +- task_id: IsaacContrib-Velocity-Rough-UnitreeA1 + scope: contrib + rl_library: sb3 + physics: newton_mjwarp +- task_id: IsaacContrib-Velocity-Rough-UnitreeA1 + scope: contrib + rl_library: sb3 + physics: ovphysx +- task_id: IsaacContrib-Velocity-Rough-UnitreeA1 + scope: contrib + rl_library: skrl + physics: newton_mjwarp +- task_id: IsaacContrib-Velocity-Rough-UnitreeA1 + scope: contrib + rl_library: skrl + physics: ovphysx - task_id: IsaacContrib-Velocity-Rough-UnitreeGo1 scope: contrib rl_library: rsl_rl @@ -631,3 +1773,11 @@ tasks: scope: contrib rl_library: rsl_rl physics: ovphysx +- task_id: IsaacContrib-Velocity-Rough-UnitreeGo1 + scope: contrib + rl_library: skrl + physics: newton_mjwarp +- task_id: IsaacContrib-Velocity-Rough-UnitreeGo1 + scope: contrib + rl_library: skrl + physics: ovphysx diff --git a/tools/odin/discover.py b/tools/odin/discover.py index 11d9fbb53576..592600101dce 100644 --- a/tools/odin/discover.py +++ b/tools/odin/discover.py @@ -6,7 +6,8 @@ """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``. The registry walk lives in :func:`discover_tasks` +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` @@ -27,29 +28,22 @@ import yaml __all__ = [ - "SELECTIONS", "RL_LIBRARY_PRIORITY", "DiscoveredTask", "DiscoveryError", "discover_tasks", "filter_rows", - "rows_for_selection", + "expand_rows", "write_task_list", ] -# Preferred order when a selection picks one library per task. +# 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"}) -# Named row-set shapes. Called a *selection*, not a policy: 'policy' means the -# learned agent everywhere else in this codebase. -SELECTIONS: tuple[str, ...] = ("standard", "core-only", "all-libraries", "cross-backend") - -_CROSS_BACKEND_PHYSICS = ("newton_mjwarp", "ovphysx") - class DiscoveryError(RuntimeError): """Raised when the registry cannot be walked.""" @@ -64,16 +58,28 @@ class DiscoveredTask: scope: ``core`` or ``contrib``. rl_libraries: Odin-supported RL libraries the task declares, in :data:`RL_LIBRARY_PRIORITY` order. - physics: Physics preset names the task declares, excluding names that - are not valid ``physics=`` selectors. - renderers: Renderer preset names the task declares. + 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. + """ + + physics: str | None + renderer: str | None + task_id: str scope: str rl_libraries: tuple[str, ...] - physics: tuple[str, ...] - renderers: tuple[str, ...] + modes: tuple[DiscoveredTask.Mode, ...] def _canonical_physics(names: tuple[str, ...]) -> tuple[str, ...]: @@ -88,48 +94,37 @@ def _canonical_physics(names: tuple[str, ...]) -> tuple[str, ...]: return tuple(kept) -def rows_for_selection(tasks: list[DiscoveredTask], selection: str) -> list[dict[str, Any]]: - """Expand discovered tasks into dispatch rows under a named selection. +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. - selection: One of :data:`SELECTIONS`. Returns: - Row dicts sorted by ``(task_id, rl_library, physics)``, each carrying - ``task_id``, ``scope``, ``rl_library`` and — unless the task declares no - physics preset — ``physics``. - - Raises: - DiscoveryError: If *selection* is unknown. + 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. """ - if selection not in SELECTIONS: - raise DiscoveryError(f"unknown selection {selection!r}; expected one of {list(SELECTIONS)}") - rows: list[dict[str, Any]] = [] for task in tasks: - if not task.rl_libraries: - continue - if selection == "core-only" and task.scope != "core": - continue - - libraries = task.rl_libraries if selection == "all-libraries" else task.rl_libraries[:1] - physics = _canonical_physics(task.physics) - if selection == "cross-backend": - physics = tuple(name for name in physics if name in _CROSS_BACKEND_PHYSICS) - if not physics: - continue - - for library in libraries: - if not physics: - # 35 tasks declare no physics preset and reject any physics= - # token, so they get exactly one row with the field absent. - rows.append({"task_id": task.task_id, "scope": task.scope, "rl_library": library}) - continue - for name in physics: - rows.append({"task_id": task.task_id, "scope": task.scope, "rl_library": library, "physics": name}) - - rows.sort(key=lambda row: (row["task_id"], row["rl_library"], row.get("physics") or "")) + 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 + rows.append(row) + + rows.sort(key=lambda row: (row["task_id"], row["rl_library"], row.get("physics") or "", row.get("renderer") or "")) return rows @@ -140,18 +135,21 @@ def filter_rows( exclude: str | None = None, libraries: list[str] | None = None, physics: list[str] | None = None, + renderers: list[str] | None = None, scope: str | None = None, max_rows: int | None = None, ) -> list[dict[str, Any]]: - """Apply post-filters to selection rows. + """Narrow expanded rows. Args: - rows: Rows from :func:`rows_for_selection`. + 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. scope: ``core``, ``contrib``, or ``all``. max_rows: Deterministic head of the sorted order, as a cost valve. @@ -168,6 +166,9 @@ def filter_rows( 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 scope and scope != "all": result = [row for row in result if row.get("scope") == scope] if max_rows is not None: @@ -175,12 +176,24 @@ def filter_rows( return result -def discover_tasks() -> list[DiscoveredTask]: +def discover_tasks(*, validate_modes: bool = True) -> 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. + + Args: + validate_modes: Check renderer pairings against the runtime validator. + Disabling it emits the full cross product, which is faster but will + include combinations that fail at startup. + Returns: Discovered tasks sorted by ``task_id``. @@ -209,21 +222,77 @@ def discover_tasks() -> list[DiscoveredTask]: if not libraries: continue preset_map = enumerate_task_presets(spec.id) - physics = tuple(sorted(preset_map.get(PresetTarget.PHYSICS, []))) if preset_map else () + 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 () tasks.append( DiscoveredTask( task_id=spec.id, scope="contrib" if spec.id.startswith("IsaacContrib-") else "core", rl_libraries=libraries, - physics=physics, - renderers=renderers, + modes=_legal_modes(spec.id, physics, renderers, validate=validate_modes), ) ) tasks.sort(key=lambda task: task.task_id) return tasks +def _legal_modes( + task_id: str, physics: tuple[str, ...], renderers: tuple[str, ...], *, validate: bool +) -> tuple[DiscoveredTask.Mode, ...]: + """Return the legal physics/renderer 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. + """ + physics_options: tuple[str | None, ...] = physics or (None,) + if not renderers: + return tuple(DiscoveredTask.Mode(physics=name, renderer=None) for name in physics_options) + + modes: list[DiscoveredTask.Mode] = [] + for physics_name in physics_options: + for renderer in renderers: + if validate and not _mode_resolves(task_id, physics_name, renderer): + continue + modes.append(DiscoveredTask.Mode(physics=physics_name, renderer=renderer)) + return tuple(modes) + + +def _mode_resolves(task_id: str, physics: str | None, renderer: str | None) -> bool: + """Return whether a physics/renderer pairing resolves and passes validation. + + Any failure — an unknown preset, an unloadable config, or a rejected backend + combination — makes the pairing undispatchable, so all of them are treated + the same. + """ + 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}") + + 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 Exception: # noqa: BLE001 - any 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: diff --git a/tools/odin/plan.py b/tools/odin/plan.py index c158eaab61de..975d2ed95f99 100644 --- a/tools/odin/plan.py +++ b/tools/odin/plan.py @@ -69,7 +69,7 @@ class PlannedRow: """One dispatchable unit of work. Args: - row_key: Deterministic identity, ``{rl_library}_{physics}_{task_id}_seed{seed}``. + 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`` @@ -83,7 +83,7 @@ class PlannedRow: 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. - profile: uv profile the row runs under, ``isaacsim`` or ``kitless``. + profile: uv profile the row runs under; ``full`` holds every backend. osmo_task_name: DNS-1123-safe OSMO task name derived from *row_key*. """ @@ -101,26 +101,33 @@ class PlannedRow: osmo_task_name: str -def build_row_key(rl_library: str, physics: str | None, task_id: str, seed: int) -> str: +def build_row_key(rl_library: str, physics: str | None, task_id: str, seed: int, renderer: str | None = None) -> str: """Return the deterministic identity for one row. + The renderer segment is only present when a renderer is selected, so keys + for headless rows are unchanged. It cannot be omitted when one *is* + selected: a camera task expands across several renderers on the same + physics, and those rows would otherwise collide. + Args: rl_library: RL library token. - physics: Physics preset token. + physics: Physics preset token, or ``None``. task_id: Gym task id. seed: Environment seed. + renderer: Renderer preset token, or ``None`` for headless. Returns: - ``{rl_library}_{physics}_{task_id}_seed{seed}``. + ``{rl_library}_{physics}[_{renderer}]_{task_id}_seed{seed}``. """ - return f"{rl_library}_{physics or 'default'}_{task_id}_seed{seed}" + renderer_segment = f"{renderer}_" if renderer else "" + return f"{rl_library}_{physics or 'default'}_{renderer_segment}{task_id}_seed{seed}" def uv_extras_for_profile(profile: str) -> tuple[str, ...]: """Return the full extras set for a uv profile. Args: - profile: ``isaacsim`` or ``kitless``. + profile: Profile name; ``full`` holds every backend. Returns: Every extra baked into that profile's virtualenv. @@ -238,7 +245,7 @@ def plan_rows( extras = uv_extras_for_profile(profile) for seed in seeds: - row_key = build_row_key(rl_library, physics, task_id, seed) + row_key = build_row_key(rl_library, physics, task_id, seed, renderer) if row_key in seen: raise PlanError(f"duplicate row key {row_key!r}; check tasks.yaml for repeated entries") seen.add(row_key) diff --git a/tools/odin/tests/test_cli.py b/tools/odin/tests/test_cli.py index 799ccea3600e..69e95610d485 100644 --- a/tools/odin/tests/test_cli.py +++ b/tools/odin/tests/test_cli.py @@ -265,13 +265,13 @@ def test_discover_writes_a_planner_ready_task_list(workspace: Path, tmp_path: Pa cli_module, "discover_tasks", lambda: [ - DiscoveredTask("Isaac-Ant", "core", ("rsl_rl",), ("newton_mjwarp",), ()), - DiscoveredTask("IsaacContrib-Walk", "contrib", ("rsl_rl",), ("ovphysx",), ()), + DiscoveredTask("Isaac-Ant", "core", ("rsl_rl",), (DiscoveredTask.Mode("newton_mjwarp", None),)), + DiscoveredTask("IsaacContrib-Walk", "contrib", ("rsl_rl",), (DiscoveredTask.Mode("ovphysx", None),)), ], ) out = tmp_path / "tasks.yaml" - assert main(["discover", "--selection", "standard", "--output", str(out)]) == 0 + assert main(["discover", "--output", str(out)]) == 0 payload = yaml.safe_load(out.read_text()) assert payload["discovery"]["row_count"] == 2 @@ -283,6 +283,8 @@ def test_discover_scope_filter_can_empty_the_list(tmp_path: Path, monkeypatch) - from tools.odin.discover import DiscoveredTask monkeypatch.setattr( - cli_module, "discover_tasks", lambda: [DiscoveredTask("Isaac-Ant", "core", ("rsl_rl",), (), ())] + cli_module, + "discover_tasks", + lambda: [DiscoveredTask("Isaac-Ant", "core", ("rsl_rl",), (DiscoveredTask.Mode(None, None),))], ) assert main(["discover", "--scope", "contrib", "--output", str(tmp_path / "t.yaml")]) != 0 diff --git a/tools/odin/tests/test_discover.py b/tools/odin/tests/test_discover.py index 8efd777c231a..4ba4542be8f8 100644 --- a/tools/odin/tests/test_discover.py +++ b/tools/odin/tests/test_discover.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -"""Selection expansion and filtering for registry-discovered task lists. +"""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. @@ -11,129 +11,127 @@ from pathlib import Path -import pytest import yaml -from tools.odin.discover import DiscoveredTask, DiscoveryError, filter_rows, rows_for_selection, write_task_list +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"), - physics=("newton_kamino", "newton_mjwarp", "physx"), - renderers=(), + modes=(Mode("newton_kamino", None), Mode("newton_mjwarp", None), Mode("physx", None)), ) _CONTRIB = DiscoveredTask( task_id="IsaacContrib-Walk", scope="contrib", rl_libraries=("rsl_rl",), - physics=("newton_mjwarp",), - renderers=(), + modes=(Mode("newton_mjwarp", None),), ) # 35 real tasks declare no physics preset and reject any physics= token. -_NO_PHYSICS = DiscoveredTask(task_id="Isaac-Intrinsic", scope="core", rl_libraries=("skrl",), physics=(), renderers=()) +_NO_PHYSICS = DiscoveredTask(task_id="Isaac-Intrinsic", scope="core", rl_libraries=("skrl",), modes=(Mode(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"), Mode("isaacsim_physx", "isaacsim_rtx")), +) _TASKS = [_ANT, _CONTRIB, _NO_PHYSICS] -def test_standard_picks_one_library_per_task() -> None: - rows = rows_for_selection(_TASKS, "standard") - assert {row["rl_library"] for row in rows if row["task_id"] == "Isaac-Ant"} == {"rsl_rl"} +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_all_libraries_expands_every_declared_library() -> None: - rows = rows_for_selection(_TASKS, "all-libraries") - 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_core_only_drops_contrib() -> None: - rows = rows_for_selection(_TASKS, "core-only") +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_cross_backend_keeps_only_the_two_compared_backends() -> None: +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",), - physics=("newton_mjwarp", "ovphysx", "newton_kamino"), - renderers=(), + modes=(Mode("newton_mjwarp", None), Mode("ovphysx", None), Mode("newton_kamino", None)), ) - rows = rows_for_selection([task], "cross-backend") + rows = filter_rows(expand_rows([task]), physics=["newton_mjwarp", "ovphysx"]) assert {row["physics"] for row in rows} == {"newton_mjwarp", "ovphysx"} -def test_physx_is_dropped_when_ovphysx_is_also_declared() -> None: - # Headless, physics=physx resolves to OvPhysX, so running both duplicates. - task = DiscoveredTask( - task_id="Isaac-X", scope="core", rl_libraries=("rsl_rl",), physics=("physx", "ovphysx"), renderers=() - ) - assert {row["physics"] for row in rows_for_selection([task], "standard")} == {"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_physx_is_kept_when_ovphysx_is_absent() -> None: - task = DiscoveredTask(task_id="Isaac-X", scope="core", rl_libraries=("rsl_rl",), physics=("physx",), renderers=()) - assert {row["physics"] for row in rows_for_selection([task], "standard")} == {"physx"} +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_proxy_backend_is_never_dispatched() -> None: - task = DiscoveredTask( - task_id="Isaac-X", - scope="core", - rl_libraries=("rsl_rl",), - physics=("newton_mjwarp", "newton_mjwarp_vbd_proxy"), - renderers=(), - ) - assert {row["physics"] for row in rows_for_selection([task], "standard")} == {"newton_mjwarp"} +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_task_without_physics_gets_exactly_one_row_with_no_token() -> None: - rows = [row for row in rows_for_selection(_TASKS, "standard") if row["task_id"] == "Isaac-Intrinsic"] - assert len(rows) == 1 - assert "physics" not in rows[0] +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_task_without_a_supported_library_is_dropped() -> None: - task = DiscoveredTask(task_id="Isaac-Rlinf", scope="core", rl_libraries=(), physics=(), renderers=()) - assert rows_for_selection([task], "standard") == [] +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 rows_for_selection(_TASKS, "standard") == rows_for_selection(list(reversed(_TASKS)), "standard") - - -def test_unknown_selection_is_rejected() -> None: - with pytest.raises(DiscoveryError, match="quantum"): - rows_for_selection(_TASKS, "quantum") + assert expand_rows(_TASKS) == expand_rows(list(reversed(_TASKS))) def test_scope_filter_uses_the_explicit_field() -> None: - rows = rows_for_selection(_TASKS, "standard") + 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 = rows_for_selection(_TASKS, "standard") + 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 = rows_for_selection(_TASKS, "standard") + 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 = rows_for_selection(_TASKS, "standard") + 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 = rows_for_selection(_TASKS, "standard") + rows = expand_rows(_TASKS) - write_task_list(out, rows, meta={"selection": "standard", "row_count": len(rows)}) + 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) @@ -142,6 +140,6 @@ def test_written_list_is_consumable_by_the_planner(tmp_path: Path) -> None: def test_provenance_header_is_ignored_by_the_planner(tmp_path: Path) -> None: out = tmp_path / "tasks.yaml" - write_task_list(out, rows_for_selection(_TASKS, "standard"), meta={"selection": "standard"}) - assert yaml.safe_load(out.read_text())["discovery"]["selection"] == "standard" + 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_plan.py b/tools/odin/tests/test_plan.py index 61148a431ad3..ffd648d4f481 100644 --- a/tools/odin/tests/test_plan.py +++ b/tools/odin/tests/test_plan.py @@ -32,6 +32,21 @@ 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_full_profile_holds_every_backend() -> 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. From 4f89ad75ab3ad3458ca80b902991bd3374fe56c2 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 17:40:49 +0200 Subject: [PATCH 21/33] Discover domain presets; let the executor combine them Domain presets -- depth, rgb, albedo, semantic_segmentation, shading and scene variants -- were a third axis the tool ignored entirely, so depth on cartpole was unreachable. Discovery now expands them and --presets whitelists them, alongside --physics and --renderer. Backend names are filtered out of that axis. 31 tasks list physx or newton_mjwarp under DOMAIN as well, and a per-task check is not enough: a task can list a backend under DOMAIN without declaring it under PHYSICS. Uses the same global mirror-name guard as tools/environ_docs.py. Discovery emits one preset at a time and never combines them, which is a documented limitation rather than a property of the runtime: presets targeting the same field conflict outright, and no rule is available for which pairs compose. The executor imposes no such limit -- a hand-written list may give a token, a comma-separated string, or a YAML list, and it renders as one presets=a,b token. dispatch.json records what ran. Row keys gain a preset segment, without which the variants of one task collide. 87 tasks now yield 1663 rows, so whitelisting is the normal path rather than an optimisation. --- tools/odin/README.md | 25 +- tools/odin/cli.py | 5 + tools/odin/config/tasks.yaml | 8737 ++++++++++++++++++++++--- tools/odin/discover.py | 77 +- tools/odin/plan.py | 53 +- tools/odin/state.py | 4 + tools/odin/templates/dispatch.yaml.j2 | 2 +- tools/odin/tests/test_chunking.py | 1 + tools/odin/tests/test_cli.py | 6 +- tools/odin/tests/test_discover.py | 12 +- tools/odin/tests/test_plan.py | 20 + tools/odin/tests/test_poller.py | 1 + tools/odin/tests/test_state.py | 1 + tools/odin/tests/test_workflow.py | 11 + 14 files changed, 8191 insertions(+), 764 deletions(-) diff --git a/tools/odin/README.md b/tools/odin/README.md index c799771b3e15..ac9a066abe24 100644 --- a/tools/odin/README.md +++ b/tools/odin/README.md @@ -83,14 +83,35 @@ pairings survive for a Cartpole camera task. Discovery checks each pairing against the runtime validator, which costs about 7 seconds for the whole registry and saves finding out on a GPU. -Current shape: **87 tasks → 429 rows**, of which 109 carry a renderer across the -5 camera-capable tasks. +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 on 31 tasks 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 | diff --git a/tools/odin/cli.py b/tools/odin/cli.py index e9d1b0b665a2..2ccf519d40ba 100644 --- a/tools/odin/cli.py +++ b/tools/odin/cli.py @@ -85,6 +85,7 @@ def _job_from_row(row: PlannedRow, *, side: str, image_ref: str) -> JobEntry: 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, @@ -293,6 +294,7 @@ def command_discover(args: argparse.Namespace) -> int: libraries=args.library, physics=args.physics, renderers=args.renderer, + presets=args.presets, scope=args.scope, max_rows=args.max_rows, ) @@ -391,6 +393,9 @@ def _build_parser() -> argparse.ArgumentParser: 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.") diff --git a/tools/odin/config/tasks.yaml b/tools/odin/config/tasks.yaml index 7352b9e1839e..68d5483daab8 100644 --- a/tools/odin/config/tasks.yaml +++ b/tools/odin/config/tasks.yaml @@ -1,17 +1,12 @@ -# 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 - # Generated by tools/odin/discover.py. Do not edit by hand -- regenerate, # or pass a hand-written file to `dispatch --tasks-yaml` to override. # # Sizing is absent by design: it is harvested from a real run into # task_metadata.yaml and applied as an overlay. discovery: - generated_at: '2026-07-29T15:01:23Z' + generated_at: '2026-07-29T15:40:48Z' task_count: 87 - row_count: 429 + row_count: 1663 tasks: - task_id: Isaac-Ant scope: core @@ -166,1275 +161,8551 @@ tasks: scope: core rl_library: rl_games physics: newton_kamino - renderer: newton_renderer + renderer: isaacsim_rtx + presets: albedo - task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games physics: newton_kamino - renderer: ovrtx + renderer: isaacsim_rtx + presets: depth - task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games physics: newton_kamino - renderer: rtx + renderer: isaacsim_rtx + presets: resnet18 - task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games - physics: newton_mjwarp + physics: newton_kamino renderer: isaacsim_rtx + presets: rgb - task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games - physics: newton_mjwarp - renderer: newton_renderer + physics: newton_kamino + renderer: isaacsim_rtx + presets: semantic_segmentation - task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games - physics: newton_mjwarp - renderer: ovrtx + physics: newton_kamino + renderer: isaacsim_rtx + presets: simple_shading_constant_diffuse - task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games - physics: newton_mjwarp - renderer: rtx + physics: newton_kamino + renderer: isaacsim_rtx + presets: simple_shading_diffuse_mdl - task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games - physics: ovphysx + physics: newton_kamino renderer: isaacsim_rtx + presets: simple_shading_full_mdl - task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games - physics: ovphysx + physics: newton_kamino + renderer: isaacsim_rtx + presets: theia_tiny +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_kamino renderer: newton_renderer - task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games - physics: ovphysx - renderer: ovrtx + physics: newton_kamino + renderer: newton_renderer + presets: albedo - task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games - physics: ovphysx - renderer: rtx + physics: newton_kamino + renderer: newton_renderer + presets: depth - task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl + rl_library: rl_games physics: newton_kamino - renderer: isaacsim_rtx + renderer: newton_renderer + presets: resnet18 - task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl + rl_library: rl_games physics: newton_kamino renderer: newton_renderer + presets: rgb - task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl + rl_library: rl_games physics: newton_kamino - renderer: ovrtx + renderer: newton_renderer + presets: semantic_segmentation - task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl + rl_library: rl_games physics: newton_kamino - renderer: rtx + renderer: newton_renderer + presets: simple_shading_constant_diffuse - task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx + rl_library: rl_games + physics: newton_kamino + renderer: newton_renderer + presets: simple_shading_diffuse_mdl - task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl - physics: newton_mjwarp + rl_library: rl_games + physics: newton_kamino renderer: newton_renderer + presets: simple_shading_full_mdl - task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl - physics: newton_mjwarp + rl_library: rl_games + physics: newton_kamino + renderer: newton_renderer + presets: theia_tiny +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_kamino renderer: ovrtx - task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx + rl_library: rl_games + physics: newton_kamino + renderer: ovrtx + presets: albedo - task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx + rl_library: rl_games + physics: newton_kamino + renderer: ovrtx + presets: depth - task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer + rl_library: rl_games + physics: newton_kamino + renderer: ovrtx + presets: resnet18 - task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl - physics: ovphysx + rl_library: rl_games + physics: newton_kamino renderer: ovrtx + presets: rgb - task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl - physics: ovphysx + rl_library: rl_games + physics: newton_kamino + renderer: ovrtx + presets: semantic_segmentation +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: ovrtx + presets: simple_shading_constant_diffuse +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: ovrtx + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: ovrtx + presets: simple_shading_full_mdl +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: ovrtx + presets: theia_tiny +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_kamino renderer: rtx -- task_id: Isaac-Cartpole-Camera-Direct +- task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games - physics: isaacsim_physx - renderer: isaacsim_rtx -- task_id: Isaac-Cartpole-Camera-Direct + physics: newton_kamino + renderer: rtx + presets: albedo +- task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games - physics: isaacsim_physx - renderer: newton_renderer -- task_id: Isaac-Cartpole-Camera-Direct + physics: newton_kamino + renderer: rtx + presets: depth +- task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games - physics: isaacsim_physx + physics: newton_kamino renderer: rtx -- task_id: Isaac-Cartpole-Camera-Direct + presets: resnet18 +- task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games physics: newton_kamino - renderer: isaacsim_rtx -- task_id: Isaac-Cartpole-Camera-Direct + renderer: rtx + presets: rgb +- task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games physics: newton_kamino - renderer: newton_renderer -- task_id: Isaac-Cartpole-Camera-Direct + renderer: rtx + presets: semantic_segmentation +- task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games physics: newton_kamino - renderer: ovrtx -- task_id: Isaac-Cartpole-Camera-Direct + renderer: rtx + presets: simple_shading_constant_diffuse +- task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games physics: newton_kamino renderer: rtx -- task_id: Isaac-Cartpole-Camera-Direct + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: rtx + presets: simple_shading_full_mdl +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: rtx + presets: theia_tiny +- task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games physics: newton_mjwarp renderer: isaacsim_rtx -- task_id: Isaac-Cartpole-Camera-Direct +- task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games physics: newton_mjwarp - renderer: newton_renderer -- task_id: Isaac-Cartpole-Camera-Direct + renderer: isaacsim_rtx + presets: albedo +- task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games physics: newton_mjwarp - renderer: ovrtx -- task_id: Isaac-Cartpole-Camera-Direct + renderer: isaacsim_rtx + presets: depth +- task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games physics: newton_mjwarp - renderer: rtx -- task_id: Isaac-Cartpole-Camera-Direct + renderer: isaacsim_rtx + presets: resnet18 +- task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games - physics: ovphysx + physics: newton_mjwarp renderer: isaacsim_rtx -- task_id: Isaac-Cartpole-Camera-Direct + presets: rgb +- task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games - physics: ovphysx - renderer: newton_renderer -- task_id: Isaac-Cartpole-Camera-Direct + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: semantic_segmentation +- task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games - physics: ovphysx - renderer: ovrtx -- task_id: Isaac-Cartpole-Camera-Direct + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_constant_diffuse +- task_id: Isaac-Cartpole-Camera scope: core rl_library: rl_games - physics: ovphysx - renderer: rtx -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rsl_rl - physics: isaacsim_physx + physics: newton_mjwarp renderer: isaacsim_rtx -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rsl_rl - physics: isaacsim_physx - renderer: newton_renderer -- task_id: Isaac-Cartpole-Camera-Direct + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl - physics: isaacsim_physx - renderer: rtx -- task_id: Isaac-Cartpole-Camera-Direct + rl_library: rl_games + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_full_mdl +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl - physics: newton_kamino + rl_library: rl_games + physics: newton_mjwarp renderer: isaacsim_rtx -- task_id: Isaac-Cartpole-Camera-Direct + presets: theia_tiny +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl - physics: newton_kamino + rl_library: rl_games + physics: newton_mjwarp renderer: newton_renderer -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: ovrtx -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: rtx -- task_id: Isaac-Cartpole-Camera-Direct +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl + rl_library: rl_games physics: newton_mjwarp - renderer: isaacsim_rtx -- task_id: Isaac-Cartpole-Camera-Direct + renderer: newton_renderer + presets: albedo +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl + rl_library: rl_games physics: newton_mjwarp renderer: newton_renderer -- task_id: Isaac-Cartpole-Camera-Direct + presets: depth +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl + rl_library: rl_games physics: newton_mjwarp - renderer: ovrtx -- task_id: Isaac-Cartpole-Camera-Direct + renderer: newton_renderer + presets: resnet18 +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl + rl_library: rl_games physics: newton_mjwarp - renderer: rtx -- task_id: Isaac-Cartpole-Camera-Direct + renderer: newton_renderer + presets: rgb +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx -- task_id: Isaac-Cartpole-Camera-Direct + rl_library: rl_games + physics: newton_mjwarp + renderer: newton_renderer + presets: semantic_segmentation +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl - physics: ovphysx + rl_library: rl_games + physics: newton_mjwarp renderer: newton_renderer -- task_id: Isaac-Cartpole-Camera-Direct + presets: simple_shading_constant_diffuse +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl - physics: ovphysx + rl_library: rl_games + physics: newton_mjwarp + renderer: newton_renderer + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: newton_renderer + presets: simple_shading_full_mdl +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: newton_renderer + presets: theia_tiny +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_mjwarp renderer: ovrtx -- task_id: Isaac-Cartpole-Camera-Direct +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx -- task_id: Isaac-Cartpole-Camera-Direct + rl_library: rl_games + physics: newton_mjwarp + renderer: ovrtx + presets: albedo +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: isaacsim_rtx -- task_id: Isaac-Cartpole-Camera-Direct + rl_library: rl_games + physics: newton_mjwarp + renderer: ovrtx + presets: depth +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: newton_renderer -- task_id: Isaac-Cartpole-Camera-Direct + rl_library: rl_games + physics: newton_mjwarp + renderer: ovrtx + presets: resnet18 +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: rtx -- task_id: Isaac-Cartpole-Camera-Direct + rl_library: rl_games + physics: newton_mjwarp + renderer: ovrtx + presets: rgb +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: skrl - physics: newton_kamino - renderer: isaacsim_rtx -- task_id: Isaac-Cartpole-Camera-Direct + rl_library: rl_games + physics: newton_mjwarp + renderer: ovrtx + presets: semantic_segmentation +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: skrl - physics: newton_kamino - renderer: newton_renderer -- task_id: Isaac-Cartpole-Camera-Direct + rl_library: rl_games + physics: newton_mjwarp + renderer: ovrtx + presets: simple_shading_constant_diffuse +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: skrl - physics: newton_kamino + rl_library: rl_games + physics: newton_mjwarp renderer: ovrtx -- task_id: Isaac-Cartpole-Camera-Direct + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: skrl - physics: newton_kamino + rl_library: rl_games + physics: newton_mjwarp + renderer: ovrtx + presets: simple_shading_full_mdl +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: ovrtx + presets: theia_tiny +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_mjwarp renderer: rtx -- task_id: Isaac-Cartpole-Camera-Direct +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: skrl + rl_library: rl_games physics: newton_mjwarp - renderer: isaacsim_rtx -- task_id: Isaac-Cartpole-Camera-Direct + renderer: rtx + presets: albedo +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: skrl + rl_library: rl_games physics: newton_mjwarp - renderer: newton_renderer -- task_id: Isaac-Cartpole-Camera-Direct + renderer: rtx + presets: depth +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: skrl + rl_library: rl_games physics: newton_mjwarp - renderer: ovrtx -- task_id: Isaac-Cartpole-Camera-Direct + renderer: rtx + presets: resnet18 +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: skrl + rl_library: rl_games physics: newton_mjwarp renderer: rtx -- task_id: Isaac-Cartpole-Camera-Direct + presets: rgb +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: skrl + rl_library: rl_games + physics: newton_mjwarp + renderer: rtx + presets: semantic_segmentation +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: rtx + presets: simple_shading_constant_diffuse +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: rtx + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: rtx + presets: simple_shading_full_mdl +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: rtx + presets: theia_tiny +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games physics: ovphysx renderer: isaacsim_rtx -- task_id: Isaac-Cartpole-Camera-Direct +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: skrl + rl_library: rl_games + physics: ovphysx + renderer: isaacsim_rtx + presets: albedo +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: isaacsim_rtx + presets: depth +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: isaacsim_rtx + presets: resnet18 +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: isaacsim_rtx + presets: rgb +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: isaacsim_rtx + presets: semantic_segmentation +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_constant_diffuse +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_full_mdl +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: isaacsim_rtx + presets: theia_tiny +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games physics: ovphysx renderer: newton_renderer -- task_id: Isaac-Cartpole-Camera-Direct +- task_id: Isaac-Cartpole-Camera scope: core - rl_library: skrl + rl_library: rl_games + physics: ovphysx + renderer: newton_renderer + presets: albedo +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: newton_renderer + presets: depth +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: newton_renderer + presets: resnet18 +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: newton_renderer + presets: rgb +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: newton_renderer + presets: semantic_segmentation +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_constant_diffuse +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_full_mdl +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: newton_renderer + presets: theia_tiny +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games physics: ovphysx renderer: ovrtx +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: ovrtx + presets: albedo +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: ovrtx + presets: depth +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: ovrtx + presets: resnet18 +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: ovrtx + presets: rgb +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: ovrtx + presets: semantic_segmentation +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: ovrtx + presets: simple_shading_constant_diffuse +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: ovrtx + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: ovrtx + presets: simple_shading_full_mdl +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: ovrtx + presets: theia_tiny +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: rtx +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: rtx + presets: albedo +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: rtx + presets: depth +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: rtx + presets: resnet18 +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: rtx + presets: rgb +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: rtx + presets: semantic_segmentation +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: rtx + presets: simple_shading_constant_diffuse +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: rtx + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: rtx + presets: simple_shading_full_mdl +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rl_games + physics: ovphysx + renderer: rtx + presets: theia_tiny +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: isaacsim_rtx +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: isaacsim_rtx + presets: albedo +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: isaacsim_rtx + presets: depth +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: isaacsim_rtx + presets: resnet18 +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: isaacsim_rtx + presets: rgb +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: isaacsim_rtx + presets: semantic_segmentation +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: isaacsim_rtx + presets: simple_shading_constant_diffuse +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: isaacsim_rtx + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: isaacsim_rtx + presets: simple_shading_full_mdl +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: isaacsim_rtx + presets: theia_tiny +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: newton_renderer +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: newton_renderer + presets: albedo +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: newton_renderer + presets: depth +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: newton_renderer + presets: resnet18 +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: newton_renderer + presets: rgb +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: newton_renderer + presets: semantic_segmentation +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: newton_renderer + presets: simple_shading_constant_diffuse +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: newton_renderer + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: newton_renderer + presets: simple_shading_full_mdl +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: newton_renderer + presets: theia_tiny +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: ovrtx +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: ovrtx + presets: albedo +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: ovrtx + presets: depth +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: ovrtx + presets: resnet18 +- task_id: Isaac-Cartpole-Camera + scope: core + rl_library: rsl_rl + physics: newton_kamino + renderer: ovrtx + presets: rgb +- task_id: 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presets: depth +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: isaacsim_rtx + presets: rgb +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: isaacsim_rtx + presets: semantic_segmentation +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_constant_diffuse +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_full_mdl - task_id: Isaac-Cartpole-Camera-Direct scope: core - rl_library: skrl - physics: ovphysx + rl_library: skrl + physics: ovphysx + renderer: newton_renderer +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: newton_renderer + presets: albedo +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: newton_renderer + presets: depth +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: newton_renderer + presets: rgb +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: newton_renderer + presets: semantic_segmentation +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_constant_diffuse +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_full_mdl +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: ovrtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: ovrtx + presets: albedo +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: ovrtx + presets: depth +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: ovrtx + presets: rgb +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: ovrtx + presets: semantic_segmentation +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: ovrtx + presets: simple_shading_constant_diffuse +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: ovrtx + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: ovrtx + presets: simple_shading_full_mdl +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: rtx +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: rtx + presets: albedo +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: rtx + presets: depth +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: rtx + presets: rgb +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: rtx + presets: semantic_segmentation +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: rtx + presets: simple_shading_constant_diffuse +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: rtx + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Cartpole-Camera-Direct + scope: core + rl_library: skrl + physics: ovphysx + renderer: rtx + presets: simple_shading_full_mdl +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: rl_games + physics: isaacsim_physx +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: rl_games + physics: newton_kamino +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: rl_games + physics: ovphysx +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: rsl_rl + physics: isaacsim_physx +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: sb3 + physics: isaacsim_physx +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: sb3 + physics: newton_kamino +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: sb3 + physics: newton_mjwarp +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: sb3 + physics: ovphysx +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: skrl + physics: isaacsim_physx +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: skrl + physics: newton_kamino +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Cartpole-Direct + scope: core + rl_library: skrl + physics: ovphysx +- task_id: Isaac-Fourbar-Pole-Swingup + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Humanoid + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Humanoid + scope: core + rl_library: rl_games + physics: physx +- task_id: Isaac-Humanoid + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Humanoid + scope: core + rl_library: rsl_rl + physics: physx +- task_id: Isaac-Humanoid + scope: core + rl_library: sb3 + physics: newton_mjwarp +- task_id: Isaac-Humanoid + scope: core + rl_library: sb3 + physics: physx +- task_id: Isaac-Humanoid + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Humanoid + scope: core + rl_library: skrl + physics: physx +- task_id: Isaac-Humanoid-Direct + scope: core + rl_library: rl_games + physics: isaacsim_physx +- task_id: Isaac-Humanoid-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Humanoid-Direct + scope: core + rl_library: rl_games + physics: ovphysx +- task_id: Isaac-Humanoid-Direct + scope: core + rl_library: rsl_rl + physics: isaacsim_physx +- task_id: Isaac-Humanoid-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Humanoid-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Humanoid-Direct + scope: core + rl_library: skrl + physics: isaacsim_physx +- task_id: Isaac-Humanoid-Direct + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Humanoid-Direct + scope: core + rl_library: skrl + physics: ovphysx +- task_id: Isaac-Lift-Cloth-Franka + scope: core + rl_library: rsl_rl + physics: newton_mjwarp_vbd +- task_id: Isaac-Lift-Cube-Franka + scope: core + rl_library: rl_games +- task_id: Isaac-Lift-Cube-Franka + scope: core + rl_library: rsl_rl +- task_id: Isaac-Lift-Cube-Franka + scope: core + rl_library: sb3 +- task_id: Isaac-Lift-Cube-Franka + scope: core + rl_library: skrl +- task_id: Isaac-Lift-Franka + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Lift-Franka + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + presets: cube +- task_id: Isaac-Lift-Franka + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + presets: shapes +- task_id: Isaac-Lift-Franka + scope: core + rl_library: rsl_rl + physics: physx +- task_id: Isaac-Lift-Franka + scope: core + rl_library: rsl_rl + physics: physx + presets: cube +- task_id: Isaac-Lift-Franka + scope: core + rl_library: rsl_rl + physics: physx + presets: shapes +- task_id: Isaac-Lift-KukaAllegro + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Lift-KukaAllegro + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + presets: cube +- task_id: Isaac-Lift-KukaAllegro + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + presets: shapes +- task_id: Isaac-Lift-KukaAllegro + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Lift-KukaAllegro + scope: core + rl_library: rsl_rl + physics: ovphysx + presets: cube +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: albedo128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: albedo256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: albedo64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: cube +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: depth128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: depth256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: depth64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: duo_camera +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: rgb128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: rgb256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: rgb64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: semantic_segmentation128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: semantic_segmentation256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: semantic_segmentation64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: shapes +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_constant_diffuse128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_constant_diffuse256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_constant_diffuse64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_diffuse_mdl128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_diffuse_mdl256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_diffuse_mdl64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_full_mdl128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_full_mdl256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_full_mdl64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: single_camera +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: albedo128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: albedo256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: albedo64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: cube +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: depth128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: depth256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: depth64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: duo_camera +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: rgb128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: rgb256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: rgb64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: semantic_segmentation128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: semantic_segmentation256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: semantic_segmentation64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: shapes +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: simple_shading_constant_diffuse128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: simple_shading_constant_diffuse256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: simple_shading_constant_diffuse64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: simple_shading_diffuse_mdl128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: simple_shading_diffuse_mdl256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: simple_shading_diffuse_mdl64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: simple_shading_full_mdl128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: simple_shading_full_mdl256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: simple_shading_full_mdl64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: single_camera +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: albedo128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: albedo256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: albedo64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: cube +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: depth128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: depth256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: depth64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: duo_camera +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: rgb128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: rgb256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: rgb64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: semantic_segmentation128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: semantic_segmentation256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: semantic_segmentation64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: shapes +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: simple_shading_constant_diffuse128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: simple_shading_constant_diffuse256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: simple_shading_constant_diffuse64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: simple_shading_diffuse_mdl128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: simple_shading_diffuse_mdl256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: simple_shading_diffuse_mdl64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: simple_shading_full_mdl128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: simple_shading_full_mdl256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: simple_shading_full_mdl64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: single_camera +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: albedo128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: albedo256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: albedo64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: cube +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: depth128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: depth256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: depth64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: duo_camera +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: rgb128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: rgb256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: rgb64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: semantic_segmentation128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: semantic_segmentation256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: semantic_segmentation64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: shapes +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: simple_shading_constant_diffuse128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: simple_shading_constant_diffuse256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: simple_shading_constant_diffuse64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: simple_shading_diffuse_mdl128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: simple_shading_diffuse_mdl256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: simple_shading_diffuse_mdl64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: simple_shading_full_mdl128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: simple_shading_full_mdl256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: simple_shading_full_mdl64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: single_camera +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: albedo128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: albedo256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: albedo64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: cube +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: depth128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: depth256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: depth64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: duo_camera +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: rgb128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: rgb256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: rgb64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: semantic_segmentation128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: semantic_segmentation256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: semantic_segmentation64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_constant_diffuse128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_constant_diffuse256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_constant_diffuse64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_diffuse_mdl128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_diffuse_mdl256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_diffuse_mdl64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_full_mdl128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_full_mdl256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_full_mdl64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: single_camera +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: albedo128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: albedo256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: albedo64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: cube +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: depth128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: depth256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: depth64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: duo_camera +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: rgb128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: rgb256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: rgb64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: semantic_segmentation128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: semantic_segmentation256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: semantic_segmentation64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_constant_diffuse128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_constant_diffuse256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_constant_diffuse64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_diffuse_mdl128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_diffuse_mdl256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_diffuse_mdl64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_full_mdl128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_full_mdl256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_full_mdl64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: single_camera +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: albedo128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: albedo256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: albedo64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: cube +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: depth128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: depth256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: depth64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: duo_camera +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: rgb128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: rgb256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: rgb64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: semantic_segmentation128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: semantic_segmentation256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: semantic_segmentation64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: simple_shading_constant_diffuse128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: simple_shading_constant_diffuse256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: simple_shading_constant_diffuse64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: simple_shading_diffuse_mdl128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: simple_shading_diffuse_mdl256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: simple_shading_diffuse_mdl64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: simple_shading_full_mdl128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: simple_shading_full_mdl256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: simple_shading_full_mdl64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: single_camera +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: albedo128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: albedo256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: albedo64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: cube +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: depth128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: depth256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: depth64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: duo_camera +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: rgb128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: rgb256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: rgb64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: semantic_segmentation128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: semantic_segmentation256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: semantic_segmentation64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: simple_shading_constant_diffuse128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: simple_shading_constant_diffuse256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: simple_shading_constant_diffuse64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: simple_shading_diffuse_mdl128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: simple_shading_diffuse_mdl256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: simple_shading_diffuse_mdl64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: simple_shading_full_mdl128 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: simple_shading_full_mdl256 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: simple_shading_full_mdl64 +- task_id: Isaac-Lift-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: single_camera +- task_id: Isaac-Lift-Soft-Franka + scope: core + rl_library: rsl_rl + physics: newton_mjwarp_vbd +- task_id: Isaac-Lift-Soft-Franka + scope: core + rl_library: rsl_rl + physics: physx +- task_id: Isaac-Open-Drawer-Franka + scope: core + rl_library: rl_games +- task_id: Isaac-Open-Drawer-Franka + scope: core + rl_library: rsl_rl +- task_id: Isaac-Open-Drawer-Franka + scope: core + rl_library: skrl +- task_id: Isaac-Open-Drawer-Franka-Direct + scope: core + rl_library: rl_games + physics: isaacsim_physx +- task_id: Isaac-Open-Drawer-Franka-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Open-Drawer-Franka-Direct + scope: core + rl_library: rl_games + physics: ovphysx +- task_id: Isaac-Open-Drawer-Franka-Direct + scope: core + rl_library: rsl_rl + physics: isaacsim_physx +- task_id: Isaac-Open-Drawer-Franka-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Open-Drawer-Franka-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Open-Drawer-Franka-Direct + scope: core + rl_library: skrl + physics: isaacsim_physx +- task_id: Isaac-Open-Drawer-Franka-Direct + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Open-Drawer-Franka-Direct + scope: core + rl_library: skrl + physics: ovphysx +- task_id: Isaac-Pendulum-Direct + scope: core + rl_library: rl_games +- task_id: Isaac-Pendulum-Direct + scope: core + rl_library: skrl +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rl_games + physics: isaacsim_physx +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rl_games + physics: isaacsim_physx + presets: diffik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rl_games + physics: isaacsim_physx + presets: joint_pos +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rl_games + physics: isaacsim_physx + presets: newton_ik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rl_games + physics: newton_kamino +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rl_games + physics: newton_kamino + presets: diffik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rl_games + physics: newton_kamino + presets: joint_pos +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rl_games + physics: newton_kamino + presets: newton_ik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rl_games + physics: newton_mjwarp + presets: diffik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rl_games + physics: newton_mjwarp + presets: joint_pos +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rl_games + physics: newton_mjwarp + presets: newton_ik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rl_games + physics: ovphysx +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rl_games + physics: ovphysx + presets: diffik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rl_games + physics: ovphysx + presets: joint_pos +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rl_games + physics: ovphysx + presets: newton_ik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: isaacsim_physx +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: isaacsim_physx + presets: diffik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: isaacsim_physx + presets: joint_pos +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: isaacsim_physx + presets: newton_ik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: newton_kamino + presets: diffik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: newton_kamino + presets: joint_pos +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: newton_kamino + presets: newton_ik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + presets: diffik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + presets: joint_pos +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + presets: newton_ik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: ovphysx + presets: diffik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: ovphysx + presets: joint_pos +- task_id: Isaac-Reach-Franka + scope: core + rl_library: rsl_rl + physics: ovphysx + presets: newton_ik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: skrl + physics: isaacsim_physx +- task_id: Isaac-Reach-Franka + scope: core + rl_library: skrl + physics: isaacsim_physx + presets: diffik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: skrl + physics: isaacsim_physx + presets: joint_pos +- task_id: Isaac-Reach-Franka + scope: core + rl_library: skrl + physics: isaacsim_physx + presets: newton_ik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: skrl + physics: newton_kamino +- task_id: Isaac-Reach-Franka + scope: core + rl_library: skrl + physics: newton_kamino + presets: diffik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: skrl + physics: newton_kamino + presets: joint_pos +- task_id: Isaac-Reach-Franka + scope: core + rl_library: skrl + physics: newton_kamino + presets: newton_ik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Reach-Franka + scope: core + rl_library: skrl + physics: newton_mjwarp + presets: diffik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: skrl + physics: newton_mjwarp + presets: joint_pos +- task_id: Isaac-Reach-Franka + scope: core + rl_library: skrl + physics: newton_mjwarp + presets: newton_ik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: skrl + physics: ovphysx +- task_id: Isaac-Reach-Franka + scope: core + rl_library: skrl + physics: ovphysx + presets: diffik +- task_id: Isaac-Reach-Franka + scope: core + rl_library: skrl + physics: ovphysx + presets: joint_pos +- task_id: Isaac-Reach-Franka + scope: core + rl_library: skrl + physics: ovphysx + presets: newton_ik +- task_id: Isaac-Reach-Franka-OSC + scope: core + rl_library: rsl_rl + physics: isaacsim_physx +- task_id: Isaac-Reach-Franka-OSC + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Reach-Franka-OSC + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reach-Franka-OSC + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: rl_games + physics: isaacsim_physx +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: rl_games + physics: newton_kamino +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: rl_games + physics: ovphysx +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: rsl_rl + physics: isaacsim_physx +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: skrl + physics: isaacsim_physx +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: skrl + physics: newton_kamino +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Reach-UR10 + scope: core + rl_library: skrl + physics: ovphysx +- task_id: Isaac-Reorient-Cube-Allegro + scope: core + rl_library: rl_games +- task_id: Isaac-Reorient-Cube-Allegro + scope: core + rl_library: rsl_rl +- task_id: Isaac-Reorient-Cube-Allegro + scope: core + rl_library: skrl +- task_id: Isaac-Reorient-Cube-Allegro-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Reorient-Cube-Allegro-Direct + scope: core + rl_library: rl_games + physics: ovphysx +- task_id: Isaac-Reorient-Cube-Allegro-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reorient-Cube-Allegro-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Reorient-Cube-Allegro-Direct + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Reorient-Cube-Allegro-Direct + scope: core + rl_library: skrl + physics: ovphysx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: isaacsim_rtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: isaacsim_rtx + presets: albedo +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: isaacsim_rtx + presets: depth +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: isaacsim_rtx + presets: full +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: isaacsim_rtx + presets: rgb +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: isaacsim_rtx + presets: semantic_segmentation +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: isaacsim_rtx + presets: simple_shading_constant_diffuse +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: isaacsim_rtx + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: isaacsim_rtx + presets: simple_shading_full_mdl +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: newton_renderer +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: newton_renderer + presets: albedo +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: newton_renderer + presets: depth +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: newton_renderer + presets: full +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: newton_renderer + presets: rgb +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: newton_renderer + presets: semantic_segmentation +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: newton_renderer + presets: simple_shading_constant_diffuse +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: newton_renderer + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: newton_renderer + presets: simple_shading_full_mdl +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: ovrtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: ovrtx + presets: albedo +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: ovrtx + presets: depth +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: ovrtx + presets: full +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: ovrtx + presets: rgb +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: ovrtx + presets: semantic_segmentation +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: ovrtx + presets: simple_shading_constant_diffuse +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: ovrtx + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: ovrtx + presets: simple_shading_full_mdl +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: rtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: rtx + presets: albedo +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: rtx + presets: depth +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: rtx + presets: full +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: rtx + presets: rgb +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: rtx + presets: semantic_segmentation +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: rtx + presets: simple_shading_constant_diffuse +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: rtx + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_kamino + renderer: rtx + presets: simple_shading_full_mdl +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: isaacsim_rtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: albedo +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: depth +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: full +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: rgb +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: semantic_segmentation +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_constant_diffuse +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_full_mdl +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: newton_renderer +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: newton_renderer + presets: albedo +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: newton_renderer + presets: depth +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: newton_renderer + 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newton_mjwarp + renderer: ovrtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: ovrtx + presets: albedo +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: ovrtx + presets: depth +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: ovrtx + presets: full +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: ovrtx + presets: rgb +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: ovrtx + presets: semantic_segmentation +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp + renderer: ovrtx + presets: simple_shading_constant_diffuse +- task_id: 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isaacsim_rtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: albedo +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: depth +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: full +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: rgb +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: semantic_segmentation +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_constant_diffuse +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_full_mdl +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: albedo +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: depth +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: full +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: rgb +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: semantic_segmentation +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_constant_diffuse +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_full_mdl +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: albedo +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: depth +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: full +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: rgb +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: semantic_segmentation +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: simple_shading_constant_diffuse +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: simple_shading_full_mdl +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: albedo +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: depth +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: full +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: rgb +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: semantic_segmentation +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: simple_shading_constant_diffuse +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: simple_shading_diffuse_mdl +- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: simple_shading_full_mdl +- task_id: Isaac-Reorient-Cube-Shadow-Direct + scope: core + rl_library: rl_games + physics: newton_kamino +- task_id: Isaac-Reorient-Cube-Shadow-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Reorient-Cube-Shadow-Direct + scope: core + rl_library: rl_games + physics: ovphysx +- task_id: Isaac-Reorient-Cube-Shadow-Direct + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Reorient-Cube-Shadow-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reorient-Cube-Shadow-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Reorient-Cube-Shadow-Direct + scope: core + rl_library: skrl + physics: newton_kamino +- task_id: Isaac-Reorient-Cube-Shadow-Direct + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Reorient-Cube-Shadow-Direct + scope: core + rl_library: skrl + physics: ovphysx +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct + scope: core + rl_library: rl_games + physics: newton_kamino +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct + scope: core + rl_library: rl_games + physics: ovphysx +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct + scope: core + rl_library: skrl + physics: newton_kamino +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct + scope: core + rl_library: skrl + physics: ovphysx +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct + scope: core + rl_library: rl_games + physics: newton_kamino +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct + scope: core + rl_library: rl_games + physics: newton_mjwarp +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct + scope: core + rl_library: rl_games + physics: ovphysx +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct + scope: core + rl_library: rsl_rl + physics: newton_kamino +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Reorient-Franka + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reorient-Franka + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + presets: cube +- task_id: Isaac-Reorient-Franka + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + presets: shapes +- task_id: Isaac-Reorient-Franka + scope: core + rl_library: rsl_rl + physics: physx +- task_id: Isaac-Reorient-Franka + scope: core + rl_library: rsl_rl + physics: physx + presets: cube +- task_id: Isaac-Reorient-Franka + scope: core + rl_library: rsl_rl + physics: physx + presets: shapes +- task_id: Isaac-Reorient-KukaAllegro + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Reorient-KukaAllegro + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + presets: cube +- task_id: Isaac-Reorient-KukaAllegro + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + presets: shapes +- task_id: Isaac-Reorient-KukaAllegro + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Reorient-KukaAllegro + scope: core + rl_library: rsl_rl + physics: ovphysx + presets: cube +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: albedo128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: albedo256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: albedo64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: cube +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: depth128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: depth256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: depth64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: duo_camera +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: rgb128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: rgb256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: rgb64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: semantic_segmentation128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: semantic_segmentation256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: semantic_segmentation64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: shapes +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_constant_diffuse128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_constant_diffuse256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_constant_diffuse64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_diffuse_mdl128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_diffuse_mdl256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_diffuse_mdl64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_full_mdl128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_full_mdl256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: simple_shading_full_mdl64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: isaacsim_rtx + presets: single_camera +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: albedo128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: albedo256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: albedo64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: cube +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: depth128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: depth256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: depth64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: duo_camera +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: rgb128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: rgb256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: rgb64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: semantic_segmentation128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: semantic_segmentation256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: semantic_segmentation64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: shapes +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: simple_shading_constant_diffuse128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: simple_shading_constant_diffuse256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: simple_shading_constant_diffuse64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: simple_shading_diffuse_mdl128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: simple_shading_diffuse_mdl256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: simple_shading_diffuse_mdl64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: simple_shading_full_mdl128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: simple_shading_full_mdl256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: simple_shading_full_mdl64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: newton_renderer + presets: single_camera +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: albedo128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: albedo256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: albedo64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: cube +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: depth128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: depth256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: depth64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: duo_camera +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: rgb128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: rgb256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: rgb64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: semantic_segmentation128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: semantic_segmentation256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: semantic_segmentation64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: shapes +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: simple_shading_constant_diffuse128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: simple_shading_constant_diffuse256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: simple_shading_constant_diffuse64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: simple_shading_diffuse_mdl128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: simple_shading_diffuse_mdl256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: simple_shading_diffuse_mdl64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: simple_shading_full_mdl128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: simple_shading_full_mdl256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: simple_shading_full_mdl64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: ovrtx + presets: single_camera +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: albedo128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: albedo256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: albedo64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: cube +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: depth128 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: depth256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: newton_mjwarp renderer: rtx -- task_id: Isaac-Cartpole-Direct + presets: depth64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games - physics: isaacsim_physx -- task_id: Isaac-Cartpole-Direct + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: duo_camera +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games - physics: newton_kamino -- task_id: Isaac-Cartpole-Direct + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: rgb128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games + rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Cartpole-Direct + renderer: rtx + presets: rgb256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games - physics: ovphysx -- task_id: Isaac-Cartpole-Direct + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: rgb64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: isaacsim_physx -- task_id: Isaac-Cartpole-Direct + physics: newton_mjwarp + renderer: rtx + presets: semantic_segmentation128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Cartpole-Direct + physics: newton_mjwarp + renderer: rtx + presets: semantic_segmentation256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Cartpole-Direct + renderer: rtx + presets: semantic_segmentation64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Cartpole-Direct + physics: newton_mjwarp + renderer: rtx + presets: shapes +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: sb3 - physics: isaacsim_physx -- task_id: Isaac-Cartpole-Direct + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: simple_shading_constant_diffuse128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: sb3 - physics: newton_kamino -- task_id: Isaac-Cartpole-Direct + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: simple_shading_constant_diffuse256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: sb3 + rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Cartpole-Direct + renderer: rtx + presets: simple_shading_constant_diffuse64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: sb3 - physics: ovphysx -- task_id: Isaac-Cartpole-Direct + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: simple_shading_diffuse_mdl128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: skrl - physics: isaacsim_physx -- task_id: Isaac-Cartpole-Direct + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: simple_shading_diffuse_mdl256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: skrl - physics: newton_kamino -- task_id: Isaac-Cartpole-Direct + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: simple_shading_diffuse_mdl64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: skrl + rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Cartpole-Direct + renderer: rtx + presets: simple_shading_full_mdl128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: skrl - physics: ovphysx -- task_id: Isaac-Fourbar-Pole-Swingup + rl_library: rsl_rl + physics: newton_mjwarp + renderer: rtx + presets: simple_shading_full_mdl256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Humanoid + physics: newton_mjwarp + renderer: rtx + presets: simple_shading_full_mdl64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games + rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Humanoid + renderer: rtx + presets: single_camera +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games - physics: physx -- task_id: Isaac-Humanoid + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Humanoid + physics: ovphysx + renderer: isaacsim_rtx + presets: albedo128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: physx -- task_id: Isaac-Humanoid + physics: ovphysx + renderer: isaacsim_rtx + presets: albedo256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: sb3 - physics: newton_mjwarp -- task_id: Isaac-Humanoid + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: albedo64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: sb3 - physics: physx -- task_id: Isaac-Humanoid + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: cube +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Humanoid + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: depth128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: skrl - physics: physx -- task_id: Isaac-Humanoid-Direct + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: depth256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games - physics: isaacsim_physx -- task_id: Isaac-Humanoid-Direct + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: depth64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games - physics: newton_mjwarp -- task_id: Isaac-Humanoid-Direct + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: duo_camera +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games + rl_library: rsl_rl physics: ovphysx -- task_id: Isaac-Humanoid-Direct + renderer: isaacsim_rtx + presets: rgb128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: isaacsim_physx -- task_id: Isaac-Humanoid-Direct + physics: ovphysx + renderer: isaacsim_rtx + presets: rgb256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Humanoid-Direct + physics: ovphysx + renderer: isaacsim_rtx + presets: rgb64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl physics: ovphysx -- task_id: Isaac-Humanoid-Direct + renderer: isaacsim_rtx + presets: semantic_segmentation128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: skrl - physics: isaacsim_physx -- task_id: Isaac-Humanoid-Direct + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: semantic_segmentation256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Humanoid-Direct + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: semantic_segmentation64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: skrl + rl_library: rsl_rl physics: ovphysx -- task_id: Isaac-Lift-Cloth-Franka + renderer: isaacsim_rtx + presets: simple_shading_constant_diffuse128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_mjwarp_vbd -- task_id: Isaac-Lift-Cube-Franka + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_constant_diffuse256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games -- task_id: Isaac-Lift-Cube-Franka + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_constant_diffuse64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl -- task_id: Isaac-Lift-Cube-Franka + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_diffuse_mdl128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: sb3 -- task_id: Isaac-Lift-Cube-Franka + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_diffuse_mdl256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: skrl -- task_id: Isaac-Lift-Franka + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_diffuse_mdl64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Lift-Franka + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_full_mdl128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: physx -- task_id: Isaac-Lift-KukaAllegro + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_full_mdl256 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: simple_shading_full_mdl64 +- task_id: Isaac-Reorient-KukaAllegro-Camera + scope: core + rl_library: rsl_rl + physics: ovphysx + renderer: isaacsim_rtx + presets: single_camera +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Lift-KukaAllegro + physics: ovphysx + renderer: newton_renderer +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl physics: ovphysx -- task_id: Isaac-Lift-KukaAllegro-Camera + renderer: newton_renderer + presets: albedo128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx -- task_id: Isaac-Lift-KukaAllegro-Camera + physics: ovphysx + renderer: newton_renderer + presets: albedo256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_mjwarp + physics: ovphysx renderer: newton_renderer -- task_id: Isaac-Lift-KukaAllegro-Camera + presets: albedo64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx -- task_id: Isaac-Lift-KukaAllegro-Camera + physics: ovphysx + renderer: newton_renderer + presets: cube +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx -- task_id: Isaac-Lift-KukaAllegro-Camera + physics: ovphysx + renderer: newton_renderer + presets: depth128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl physics: ovphysx - renderer: isaacsim_rtx -- task_id: Isaac-Lift-KukaAllegro-Camera + renderer: newton_renderer + presets: depth256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl physics: ovphysx renderer: newton_renderer -- task_id: Isaac-Lift-KukaAllegro-Camera + presets: depth64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl physics: ovphysx - renderer: ovrtx -- task_id: Isaac-Lift-KukaAllegro-Camera + renderer: newton_renderer + presets: duo_camera +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl physics: ovphysx - renderer: rtx -- task_id: Isaac-Lift-Soft-Franka + renderer: newton_renderer + presets: rgb128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_mjwarp_vbd -- task_id: Isaac-Lift-Soft-Franka + physics: ovphysx + renderer: newton_renderer + presets: rgb256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: physx -- task_id: Isaac-Open-Drawer-Franka - scope: core - rl_library: rl_games -- task_id: Isaac-Open-Drawer-Franka + physics: ovphysx + renderer: newton_renderer + presets: rgb64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl -- task_id: Isaac-Open-Drawer-Franka - scope: core - rl_library: skrl -- task_id: Isaac-Open-Drawer-Franka-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx -- task_id: Isaac-Open-Drawer-Franka-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp -- task_id: Isaac-Open-Drawer-Franka-Direct - scope: core - rl_library: rl_games physics: ovphysx -- task_id: Isaac-Open-Drawer-Franka-Direct + renderer: newton_renderer + presets: semantic_segmentation128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: isaacsim_physx -- task_id: Isaac-Open-Drawer-Franka-Direct + physics: ovphysx + renderer: newton_renderer + presets: semantic_segmentation256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Open-Drawer-Franka-Direct + physics: ovphysx + renderer: newton_renderer + presets: semantic_segmentation64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl physics: ovphysx -- task_id: Isaac-Open-Drawer-Franka-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx -- task_id: Isaac-Open-Drawer-Franka-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Open-Drawer-Franka-Direct + renderer: newton_renderer + presets: simple_shading_constant_diffuse128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: skrl + rl_library: rsl_rl physics: ovphysx -- task_id: Isaac-Pendulum-Direct - scope: core - rl_library: rl_games -- task_id: Isaac-Pendulum-Direct - scope: core - rl_library: skrl -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rl_games - physics: isaacsim_physx -- task_id: Isaac-Reach-Franka + renderer: newton_renderer + presets: simple_shading_constant_diffuse256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games - physics: newton_kamino -- task_id: Isaac-Reach-Franka + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_constant_diffuse64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games - physics: newton_mjwarp -- task_id: Isaac-Reach-Franka + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_diffuse_mdl128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games + rl_library: rsl_rl physics: ovphysx -- task_id: Isaac-Reach-Franka + renderer: newton_renderer + presets: simple_shading_diffuse_mdl256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: isaacsim_physx -- task_id: Isaac-Reach-Franka + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_diffuse_mdl64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Reach-Franka + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_full_mdl128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Reach-Franka + physics: ovphysx + renderer: newton_renderer + presets: simple_shading_full_mdl256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl physics: ovphysx -- task_id: Isaac-Reach-Franka + renderer: newton_renderer + presets: simple_shading_full_mdl64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: skrl - physics: isaacsim_physx -- task_id: Isaac-Reach-Franka + rl_library: rsl_rl + physics: ovphysx + renderer: newton_renderer + presets: single_camera +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: skrl - physics: newton_kamino -- task_id: Isaac-Reach-Franka + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Reach-Franka + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: albedo128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: skrl + rl_library: rsl_rl physics: ovphysx -- task_id: Isaac-Reach-Franka-OSC + renderer: ovrtx + presets: albedo256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: isaacsim_physx -- task_id: Isaac-Reach-Franka-OSC + physics: ovphysx + renderer: ovrtx + presets: albedo64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Reach-Franka-OSC + physics: ovphysx + renderer: ovrtx + presets: cube +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Reach-Franka-OSC + physics: ovphysx + renderer: ovrtx + presets: depth128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl physics: ovphysx -- task_id: Isaac-Reach-UR10 + renderer: ovrtx + presets: depth256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games - physics: isaacsim_physx -- task_id: Isaac-Reach-UR10 + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: depth64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games - physics: newton_kamino -- task_id: Isaac-Reach-UR10 + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: duo_camera +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games - physics: newton_mjwarp -- task_id: Isaac-Reach-UR10 + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: rgb128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games + rl_library: rsl_rl physics: ovphysx -- task_id: Isaac-Reach-UR10 + renderer: ovrtx + presets: rgb256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: isaacsim_physx -- task_id: Isaac-Reach-UR10 + physics: ovphysx + renderer: ovrtx + presets: rgb64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Reach-UR10 + physics: ovphysx + renderer: ovrtx + presets: semantic_segmentation128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Reach-UR10 + physics: ovphysx + renderer: ovrtx + presets: semantic_segmentation256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl physics: ovphysx -- task_id: Isaac-Reach-UR10 + renderer: ovrtx + presets: semantic_segmentation64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: skrl - physics: isaacsim_physx -- task_id: Isaac-Reach-UR10 + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: simple_shading_constant_diffuse128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: skrl - physics: newton_kamino -- task_id: Isaac-Reach-UR10 + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: simple_shading_constant_diffuse256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Reach-UR10 + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: simple_shading_constant_diffuse64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: skrl + rl_library: rsl_rl physics: ovphysx -- task_id: Isaac-Reorient-Cube-Allegro - scope: core - rl_library: rl_games -- task_id: Isaac-Reorient-Cube-Allegro + renderer: ovrtx + presets: simple_shading_diffuse_mdl128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl -- task_id: Isaac-Reorient-Cube-Allegro - scope: core - rl_library: skrl -- task_id: Isaac-Reorient-Cube-Allegro-Direct + physics: ovphysx + renderer: ovrtx + presets: simple_shading_diffuse_mdl256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games - physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Allegro-Direct + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: simple_shading_diffuse_mdl64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games + rl_library: rsl_rl physics: ovphysx -- task_id: Isaac-Reorient-Cube-Allegro-Direct + renderer: ovrtx + presets: simple_shading_full_mdl128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Allegro-Direct + physics: ovphysx + renderer: ovrtx + presets: simple_shading_full_mdl256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl physics: ovphysx -- task_id: Isaac-Reorient-Cube-Allegro-Direct + renderer: ovrtx + presets: simple_shading_full_mdl64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Allegro-Direct + rl_library: rsl_rl + physics: ovphysx + renderer: ovrtx + presets: single_camera +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: skrl + rl_library: rsl_rl physics: ovphysx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + renderer: rtx +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: albedo128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: albedo256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: albedo64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games - physics: newton_kamino + rl_library: rsl_rl + physics: ovphysx renderer: rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + presets: cube +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: depth128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: newton_renderer -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: depth256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: ovrtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + rl_library: rsl_rl + physics: ovphysx + renderer: rtx + presets: depth64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games - physics: newton_mjwarp + rl_library: rsl_rl + physics: ovphysx renderer: rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + presets: duo_camera +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games + rl_library: rsl_rl physics: ovphysx - renderer: isaacsim_rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + renderer: rtx + presets: rgb128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games + rl_library: rsl_rl physics: ovphysx - renderer: newton_renderer -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + renderer: rtx + presets: rgb256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games + rl_library: rsl_rl physics: ovphysx - renderer: ovrtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + renderer: rtx + presets: rgb64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core - rl_library: rl_games + rl_library: rsl_rl physics: ovphysx renderer: rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + presets: semantic_segmentation128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_kamino - renderer: isaacsim_rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + physics: ovphysx + renderer: rtx + presets: semantic_segmentation256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_kamino - renderer: newton_renderer -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + physics: ovphysx + renderer: rtx + presets: semantic_segmentation64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_kamino - renderer: ovrtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + physics: ovphysx + renderer: rtx + presets: simple_shading_constant_diffuse128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_kamino + physics: ovphysx renderer: rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + presets: simple_shading_constant_diffuse256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + physics: ovphysx + renderer: rtx + presets: simple_shading_constant_diffuse64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + physics: ovphysx + renderer: rtx + presets: simple_shading_diffuse_mdl128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + physics: ovphysx + renderer: rtx + presets: simple_shading_diffuse_mdl256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl - physics: newton_mjwarp + physics: ovphysx renderer: rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + presets: simple_shading_diffuse_mdl64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl physics: ovphysx - renderer: isaacsim_rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + renderer: rtx + presets: simple_shading_full_mdl128 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl physics: ovphysx - renderer: newton_renderer -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + renderer: rtx + presets: simple_shading_full_mdl256 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl physics: ovphysx - renderer: ovrtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct + renderer: rtx + presets: simple_shading_full_mdl64 +- task_id: Isaac-Reorient-KukaAllegro-Camera scope: core rl_library: rsl_rl physics: ovphysx renderer: rtx -- task_id: Isaac-Reorient-Cube-Shadow-Direct + presets: single_camera +- task_id: Isaac-Shadow-Handover-Direct scope: core rl_library: rl_games - physics: newton_kamino -- task_id: Isaac-Reorient-Cube-Shadow-Direct + physics: newton_mjwarp +- task_id: Isaac-Shadow-Handover-Direct scope: core rl_library: rl_games + physics: ovphysx +- task_id: Isaac-Shadow-Handover-Direct + scope: core + rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Shadow-Direct +- task_id: Isaac-Shadow-Handover-Direct scope: core - rl_library: rl_games + rl_library: rsl_rl physics: ovphysx -- task_id: Isaac-Reorient-Cube-Shadow-Direct +- task_id: Isaac-Shadow-Handover-Direct + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Shadow-Handover-Direct + scope: core + rl_library: skrl + physics: ovphysx +- task_id: Isaac-Velocity-Flat-AnymalD + scope: core + rl_library: rsl_rl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Flat-AnymalD + scope: core + rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Velocity-Flat-AnymalD + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Flat-AnymalD + scope: core + rl_library: skrl + physics: ovphysx +- task_id: Isaac-Velocity-Flat-Cassie scope: core rl_library: rsl_rl physics: newton_kamino -- task_id: Isaac-Reorient-Cube-Shadow-Direct +- task_id: Isaac-Velocity-Flat-Cassie scope: core rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Shadow-Direct +- task_id: Isaac-Velocity-Flat-Cassie scope: core rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Reorient-Cube-Shadow-Direct + physics: physx +- task_id: Isaac-Velocity-Flat-Cassie scope: core rl_library: skrl physics: newton_kamino -- task_id: Isaac-Reorient-Cube-Shadow-Direct +- task_id: Isaac-Velocity-Flat-Cassie scope: core rl_library: skrl physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Shadow-Direct +- task_id: Isaac-Velocity-Flat-Cassie scope: core rl_library: skrl - physics: ovphysx -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct + physics: physx +- task_id: Isaac-Velocity-Flat-G1 scope: core - rl_library: rl_games + rl_library: rsl_rl physics: newton_kamino -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct +- task_id: Isaac-Velocity-Flat-G1 scope: core - rl_library: rl_games + rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct +- task_id: Isaac-Velocity-Flat-G1 scope: core - rl_library: rl_games - physics: ovphysx -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct + rl_library: skrl + physics: newton_kamino +- task_id: Isaac-Velocity-Flat-G1 + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Flat-H1 scope: core rl_library: rsl_rl physics: newton_kamino -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct +- task_id: Isaac-Velocity-Flat-H1 scope: core rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct +- task_id: Isaac-Velocity-Flat-H1 scope: core rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct + physics: physx +- task_id: Isaac-Velocity-Flat-H1 scope: core rl_library: skrl physics: newton_kamino -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct +- task_id: Isaac-Velocity-Flat-H1 scope: core rl_library: skrl physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct +- task_id: Isaac-Velocity-Flat-H1 scope: core rl_library: skrl - physics: ovphysx -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct + physics: physx +- task_id: Isaac-Velocity-Flat-Spot scope: core - rl_library: rl_games + rl_library: rsl_rl physics: newton_kamino -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct +- task_id: Isaac-Velocity-Flat-Spot scope: core - rl_library: rl_games + rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct +- task_id: Isaac-Velocity-Flat-Spot scope: core - rl_library: rl_games - physics: ovphysx -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct + rl_library: skrl + physics: newton_kamino +- task_id: Isaac-Velocity-Flat-Spot + scope: core + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Flat-UnitreeGo2 scope: core rl_library: rsl_rl physics: newton_kamino -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct +- task_id: Isaac-Velocity-Flat-UnitreeGo2 scope: core rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct +- task_id: Isaac-Velocity-Flat-UnitreeGo2 scope: core rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Reorient-Franka + physics: physx +- task_id: Isaac-Velocity-Flat-UnitreeGo2 scope: core - rl_library: rsl_rl + rl_library: skrl + physics: newton_kamino +- task_id: Isaac-Velocity-Flat-UnitreeGo2 + scope: core + rl_library: skrl physics: newton_mjwarp -- task_id: Isaac-Reorient-Franka +- task_id: Isaac-Velocity-Flat-UnitreeGo2 scope: core - rl_library: rsl_rl + rl_library: skrl physics: physx -- task_id: Isaac-Reorient-KukaAllegro +- task_id: Isaac-Velocity-Rough-AnymalD scope: core rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Reorient-KukaAllegro +- task_id: Isaac-Velocity-Rough-AnymalD scope: core rl_library: rsl_rl physics: ovphysx -- task_id: Isaac-Reorient-KukaAllegro-Camera +- task_id: Isaac-Velocity-Rough-AnymalD scope: core - rl_library: rsl_rl + rl_library: skrl physics: newton_mjwarp - renderer: isaacsim_rtx -- task_id: Isaac-Reorient-KukaAllegro-Camera +- task_id: Isaac-Velocity-Rough-AnymalD + scope: core + rl_library: skrl + physics: ovphysx +- task_id: Isaac-Velocity-Rough-Cassie scope: core rl_library: rsl_rl physics: newton_mjwarp - renderer: newton_renderer -- task_id: Isaac-Reorient-KukaAllegro-Camera +- task_id: Isaac-Velocity-Rough-Cassie scope: core rl_library: rsl_rl + physics: ovphysx +- task_id: Isaac-Velocity-Rough-Cassie + scope: core + rl_library: skrl physics: newton_mjwarp - renderer: ovrtx -- task_id: Isaac-Reorient-KukaAllegro-Camera +- task_id: Isaac-Velocity-Rough-Cassie + scope: core + rl_library: skrl + physics: ovphysx +- task_id: Isaac-Velocity-Rough-G1 scope: core rl_library: rsl_rl physics: newton_mjwarp - renderer: rtx -- task_id: Isaac-Reorient-KukaAllegro-Camera +- task_id: Isaac-Velocity-Rough-G1 scope: core rl_library: rsl_rl physics: ovphysx - renderer: isaacsim_rtx -- task_id: Isaac-Reorient-KukaAllegro-Camera +- task_id: Isaac-Velocity-Rough-G1 scope: core - rl_library: rsl_rl + rl_library: skrl + physics: newton_mjwarp +- task_id: Isaac-Velocity-Rough-G1 + scope: core + rl_library: skrl physics: ovphysx - renderer: newton_renderer -- task_id: Isaac-Reorient-KukaAllegro-Camera +- task_id: Isaac-Velocity-Rough-H1 scope: core rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx -- task_id: Isaac-Reorient-KukaAllegro-Camera + physics: newton_mjwarp +- task_id: Isaac-Velocity-Rough-H1 scope: core rl_library: rsl_rl physics: ovphysx - renderer: rtx -- task_id: Isaac-Shadow-Handover-Direct +- task_id: Isaac-Velocity-Rough-H1 scope: core - rl_library: rl_games + rl_library: skrl physics: newton_mjwarp -- task_id: Isaac-Shadow-Handover-Direct +- task_id: Isaac-Velocity-Rough-H1 scope: core - rl_library: rl_games + rl_library: skrl physics: ovphysx -- task_id: Isaac-Shadow-Handover-Direct +- task_id: Isaac-Velocity-Rough-UnitreeGo2 scope: core rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Shadow-Handover-Direct +- task_id: Isaac-Velocity-Rough-UnitreeGo2 scope: core rl_library: rsl_rl physics: ovphysx -- task_id: Isaac-Shadow-Handover-Direct +- task_id: Isaac-Velocity-Rough-UnitreeGo2 scope: core rl_library: skrl physics: newton_mjwarp -- task_id: Isaac-Shadow-Handover-Direct +- task_id: Isaac-Velocity-Rough-UnitreeGo2 scope: core rl_library: skrl - physics: ovphysx -- task_id: Isaac-Velocity-Flat-AnymalD - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-AnymalD - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Velocity-Flat-AnymalD - scope: core + physics: ovphysx +- task_id: IsaacContrib-AutoMate-Assembly-Direct + scope: contrib + rl_library: rl_games +- task_id: IsaacContrib-AutoMate-Disassembly-Direct + scope: contrib + rl_library: rl_games +- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct + scope: contrib + rl_library: skrl +- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct + scope: contrib + rl_library: skrl + presets: box_box +- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct + scope: contrib + rl_library: skrl + presets: box_discrete +- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct + scope: contrib + rl_library: skrl + presets: box_multidiscrete +- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct + scope: contrib + rl_library: skrl + presets: dict_box +- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct + scope: contrib + rl_library: skrl + presets: dict_discrete +- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct + scope: contrib + rl_library: skrl + presets: dict_multidiscrete +- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct + scope: contrib + rl_library: skrl + presets: tuple_box +- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct + scope: contrib + rl_library: skrl + presets: tuple_discrete +- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct + scope: contrib + rl_library: skrl + presets: tuple_multidiscrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: isaacsim_physx +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: isaacsim_physx + presets: box_box +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: isaacsim_physx + presets: box_discrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: isaacsim_physx + presets: box_multidiscrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: isaacsim_physx + presets: dict_box +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: isaacsim_physx + presets: dict_discrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: isaacsim_physx + presets: dict_multidiscrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: isaacsim_physx + presets: discrete_box +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: isaacsim_physx + presets: discrete_discrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: isaacsim_physx + presets: discrete_multidiscrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: isaacsim_physx + presets: multidiscrete_box +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: isaacsim_physx + presets: multidiscrete_discrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: isaacsim_physx + presets: multidiscrete_multidiscrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: isaacsim_physx + presets: tuple_box +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: isaacsim_physx + presets: tuple_discrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: isaacsim_physx + presets: tuple_multidiscrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: newton_kamino +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: newton_kamino + presets: box_box +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: newton_kamino + presets: box_discrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: newton_kamino + presets: box_multidiscrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: newton_kamino + presets: dict_box +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: newton_kamino + presets: dict_discrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: newton_kamino + presets: dict_multidiscrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: newton_kamino + presets: discrete_box +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: newton_kamino + presets: discrete_discrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-AnymalD - scope: core + physics: newton_kamino + presets: discrete_multidiscrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl - physics: ovphysx -- task_id: Isaac-Velocity-Flat-Cassie - scope: core - rl_library: rsl_rl physics: newton_kamino -- task_id: Isaac-Velocity-Flat-Cassie - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-Cassie - scope: core - rl_library: rsl_rl - physics: physx -- task_id: Isaac-Velocity-Flat-Cassie - scope: core + presets: multidiscrete_box +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl physics: newton_kamino -- task_id: Isaac-Velocity-Flat-Cassie - scope: core + presets: multidiscrete_discrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-Cassie - scope: core + physics: newton_kamino + presets: multidiscrete_multidiscrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl - physics: physx -- task_id: Isaac-Velocity-Flat-G1 - scope: core - rl_library: rsl_rl physics: newton_kamino -- task_id: Isaac-Velocity-Flat-G1 - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-G1 - scope: core + presets: tuple_box +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl physics: newton_kamino -- task_id: Isaac-Velocity-Flat-G1 - scope: core + presets: tuple_discrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-H1 - scope: core - rl_library: rsl_rl physics: newton_kamino -- task_id: Isaac-Velocity-Flat-H1 - scope: core - rl_library: rsl_rl + presets: tuple_multidiscrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-H1 - scope: core - rl_library: rsl_rl - physics: physx -- task_id: Isaac-Velocity-Flat-H1 - scope: core +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl - physics: newton_kamino -- task_id: Isaac-Velocity-Flat-H1 - scope: core + physics: newton_mjwarp + presets: box_box +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-H1 - scope: core + presets: box_discrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl - physics: physx -- task_id: Isaac-Velocity-Flat-Spot - scope: core - rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Velocity-Flat-Spot - scope: core - rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-Spot - scope: core + presets: box_multidiscrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl - physics: newton_kamino -- task_id: Isaac-Velocity-Flat-Spot - scope: core + physics: newton_mjwarp + presets: dict_box +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-UnitreeGo2 - scope: core - rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Velocity-Flat-UnitreeGo2 - scope: core - rl_library: rsl_rl + presets: dict_discrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-UnitreeGo2 - scope: core - rl_library: rsl_rl - physics: physx -- task_id: Isaac-Velocity-Flat-UnitreeGo2 - scope: core + presets: dict_multidiscrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl - physics: newton_kamino -- task_id: Isaac-Velocity-Flat-UnitreeGo2 - scope: core + physics: newton_mjwarp + presets: discrete_box +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-UnitreeGo2 - scope: core + presets: discrete_discrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl - physics: physx -- task_id: Isaac-Velocity-Rough-AnymalD - scope: core - rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Velocity-Rough-AnymalD - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Velocity-Rough-AnymalD - scope: core + presets: discrete_multidiscrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl physics: newton_mjwarp -- task_id: Isaac-Velocity-Rough-AnymalD - scope: core + presets: multidiscrete_box +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl - physics: ovphysx -- task_id: Isaac-Velocity-Rough-Cassie - scope: core - rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Velocity-Rough-Cassie - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Velocity-Rough-Cassie - scope: core + presets: multidiscrete_discrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl physics: newton_mjwarp -- task_id: Isaac-Velocity-Rough-Cassie - scope: core + presets: multidiscrete_multidiscrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl - physics: ovphysx -- task_id: Isaac-Velocity-Rough-G1 - scope: core - rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Velocity-Rough-G1 - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Velocity-Rough-G1 - scope: core + presets: tuple_box +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl physics: newton_mjwarp -- task_id: Isaac-Velocity-Rough-G1 - scope: core + presets: tuple_discrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl - physics: ovphysx -- task_id: Isaac-Velocity-Rough-H1 - scope: core - rl_library: rsl_rl physics: newton_mjwarp -- task_id: Isaac-Velocity-Rough-H1 - scope: core - rl_library: rsl_rl + presets: tuple_multidiscrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl physics: ovphysx -- task_id: Isaac-Velocity-Rough-H1 - scope: core +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Rough-H1 - scope: core + physics: ovphysx + presets: box_box +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl physics: ovphysx -- task_id: Isaac-Velocity-Rough-UnitreeGo2 - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Rough-UnitreeGo2 - scope: core - rl_library: rsl_rl + presets: box_discrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl physics: ovphysx -- task_id: Isaac-Velocity-Rough-UnitreeGo2 - scope: core + presets: box_multidiscrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Rough-UnitreeGo2 - scope: core + physics: ovphysx + presets: dict_box +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib rl_library: skrl physics: ovphysx -- task_id: IsaacContrib-AutoMate-Assembly-Direct + presets: dict_discrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct scope: contrib - rl_library: rl_games -- task_id: IsaacContrib-AutoMate-Disassembly-Direct + rl_library: skrl + physics: ovphysx + presets: dict_multidiscrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct scope: contrib - rl_library: rl_games -- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct + rl_library: skrl + physics: ovphysx + presets: discrete_box +- task_id: IsaacContrib-Cartpole-Showcase-Direct scope: contrib rl_library: skrl + physics: ovphysx + presets: discrete_discrete - task_id: IsaacContrib-Cartpole-Showcase-Direct scope: contrib rl_library: skrl - physics: isaacsim_physx + physics: ovphysx + presets: discrete_multidiscrete - task_id: IsaacContrib-Cartpole-Showcase-Direct scope: contrib rl_library: skrl - physics: newton_kamino + physics: ovphysx + presets: multidiscrete_box - task_id: IsaacContrib-Cartpole-Showcase-Direct scope: contrib rl_library: skrl - physics: newton_mjwarp + physics: ovphysx + presets: multidiscrete_discrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: ovphysx + presets: multidiscrete_multidiscrete +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: ovphysx + presets: tuple_box +- task_id: IsaacContrib-Cartpole-Showcase-Direct + scope: contrib + rl_library: skrl + physics: ovphysx + presets: tuple_discrete - task_id: IsaacContrib-Cartpole-Showcase-Direct scope: contrib rl_library: skrl physics: ovphysx + presets: tuple_multidiscrete - task_id: IsaacContrib-Deploy-GearAssembly-Rizon4s-Grav scope: contrib rl_library: rsl_rl diff --git a/tools/odin/discover.py b/tools/odin/discover.py index 592600101dce..145389c9c7b3 100644 --- a/tools/odin/discover.py +++ b/tools/odin/discover.py @@ -44,6 +44,31 @@ # 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.""" @@ -71,10 +96,15 @@ class Mode: 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 @@ -122,6 +152,8 @@ def expand_rows(tasks: list[DiscoveredTask]) -> list[dict[str, Any]]: 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 "")) @@ -136,6 +168,7 @@ def filter_rows( 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]]: @@ -150,6 +183,8 @@ def filter_rows( 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. @@ -169,6 +204,9 @@ def filter_rows( 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: @@ -224,40 +262,55 @@ def discover_tasks(*, validate_modes: bool = True) -> list[DiscoveredTask]: 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, validate=validate_modes), + modes=_legal_modes(spec.id, physics, renderers, domains, validate=validate_modes), ) ) 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, ...], *, validate: bool + task_id: str, + physics: tuple[str, ...], + renderers: tuple[str, ...], + domains: tuple[str, ...], + *, + validate: bool, ) -> tuple[DiscoveredTask.Mode, ...]: - """Return the legal physics/renderer combinations for one task. + """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. + 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,) - if not renderers: - return tuple(DiscoveredTask.Mode(physics=name, renderer=None) for name in physics_options) + 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 renderers: - if validate and not _mode_resolves(task_id, physics_name, renderer): - continue - modes.append(DiscoveredTask.Mode(physics=physics_name, renderer=renderer)) + for renderer in renderer_options: + for domain in domain_options: + if validate and not _mode_resolves(task_id, physics_name, renderer, domain): + continue + modes.append(DiscoveredTask.Mode(physics=physics_name, renderer=renderer, presets=domain)) return tuple(modes) -def _mode_resolves(task_id: str, physics: str | None, renderer: str | None) -> bool: +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. Any failure — an unknown preset, an unloadable config, or a rejected backend @@ -279,6 +332,8 @@ def _mode_resolves(task_id: str, physics: str | None, renderer: str | None) -> b 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: diff --git a/tools/odin/plan.py b/tools/odin/plan.py index 975d2ed95f99..a74d8c3a8906 100644 --- a/tools/odin/plan.py +++ b/tools/odin/plan.py @@ -31,6 +31,7 @@ "PlannedRow", "apply_metadata", "build_row_key", + "normalize_presets", "chunk_rows", "load_task_rows", "plan_rows", @@ -75,6 +76,8 @@ class PlannedRow: 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. seed: Environment seed. num_envs: Parallel environment count, or ``None`` to use the task's shipped agent-config default. @@ -92,6 +95,7 @@ class PlannedRow: rl_library: str physics: str | None renderer: str | None + presets: tuple[str, ...] seed: int num_envs: int | None max_iterations: int | None @@ -101,13 +105,41 @@ class PlannedRow: osmo_task_name: str -def build_row_key(rl_library: str, physics: str | None, task_id: str, seed: int, renderer: str | None = None) -> 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 segment is only present when a renderer is selected, so keys - for headless rows are unchanged. It cannot be omitted when one *is* - selected: a camera task expands across several renderers on the same - physics, and those rows would otherwise collide. + 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. @@ -115,12 +147,13 @@ def build_row_key(rl_library: str, physics: str | None, task_id: str, seed: int, 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}]_{task_id}_seed{seed}``. + ``{rl_library}_{physics}[_{renderer}][_{presets}]_{task_id}_seed{seed}``. """ - renderer_segment = f"{renderer}_" if renderer else "" - return f"{rl_library}_{physics or 'default'}_{renderer_segment}{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 uv_extras_for_profile(profile: str) -> tuple[str, ...]: @@ -241,11 +274,12 @@ def plan_rows( physics = entry.get("physics") physics = str(physics) if physics else None renderer = entry.get("renderer") + presets = normalize_presets(entry.get("presets")) profile = str(entry.get("profile") or DEFAULT_PROFILE) extras = uv_extras_for_profile(profile) for seed in seeds: - row_key = build_row_key(rl_library, physics, task_id, seed, renderer) + 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) @@ -256,6 +290,7 @@ def plan_rows( rl_library=rl_library, physics=physics, renderer=renderer, + presets=presets, seed=int(seed), num_envs=_optional_int(entry.get("num_envs")), max_iterations=_optional_int(entry.get("max_iterations")), diff --git a/tools/odin/state.py b/tools/odin/state.py index 02440c577311..07938a5c6721 100644 --- a/tools/odin/state.py +++ b/tools/odin/state.py @@ -67,6 +67,7 @@ class JobEntry: rl_library: One of ``rsl_rl``, ``rl_games``, ``skrl``, ``sb3``. physics: Physics preset token passed as ``physics=``. 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. @@ -84,6 +85,7 @@ class JobEntry: rl_library: str physics: str renderer: str | None + presets: tuple[str, ...] seed: int num_envs: int | None max_iterations: int | None @@ -193,6 +195,7 @@ def _job_to_dict(job: JobEntry) -> dict[str, Any]: "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, @@ -227,6 +230,7 @@ def _job_from_dict(payload: dict[str, Any]) -> JobEntry: rl_library=str(payload["rl_library"]), physics=str(payload["physics"]), renderer=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")), diff --git a/tools/odin/templates/dispatch.yaml.j2 b/tools/odin/templates/dispatch.yaml.j2 index 5d7bb73bd541..34e4d9fca830 100644 --- a/tools/odin/templates/dispatch.yaml.j2 +++ b/tools/odin/templates/dispatch.yaml.j2 @@ -40,7 +40,7 @@ workflow: 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 %} + 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 "$OUT" --benchmark_formatter schema{% if row.physics %} physics={{ row.physics }}{% endif %}{% if row.renderer %} renderer={{ row.renderer }}{% endif %}{% if row.presets %} presets={{ row.presets | join(',') }}{% endif %} rc=$? set -e diff --git a/tools/odin/tests/test_chunking.py b/tools/odin/tests/test_chunking.py index 5775f02a1d90..4d921b4b56d1 100644 --- a/tools/odin/tests/test_chunking.py +++ b/tools/odin/tests/test_chunking.py @@ -17,6 +17,7 @@ def _row(key: str, timeout_s: int | None) -> PlannedRow: rl_library="rsl_rl", physics="physx", renderer=None, + presets=(), seed=42, num_envs=None, max_iterations=None, diff --git a/tools/odin/tests/test_cli.py b/tools/odin/tests/test_cli.py index 69e95610d485..d9192f883a67 100644 --- a/tools/odin/tests/test_cli.py +++ b/tools/odin/tests/test_cli.py @@ -265,8 +265,8 @@ def test_discover_writes_a_planner_ready_task_list(workspace: Path, tmp_path: Pa cli_module, "discover_tasks", lambda: [ - DiscoveredTask("Isaac-Ant", "core", ("rsl_rl",), (DiscoveredTask.Mode("newton_mjwarp", None),)), - DiscoveredTask("IsaacContrib-Walk", "contrib", ("rsl_rl",), (DiscoveredTask.Mode("ovphysx", None),)), + 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" @@ -285,6 +285,6 @@ def test_discover_scope_filter_can_empty_the_list(tmp_path: Path, monkeypatch) - monkeypatch.setattr( cli_module, "discover_tasks", - lambda: [DiscoveredTask("Isaac-Ant", "core", ("rsl_rl",), (DiscoveredTask.Mode(None, None),))], + lambda: [DiscoveredTask("Isaac-Ant", "core", ("rsl_rl",), (DiscoveredTask.Mode(None, None, None),))], ) assert main(["discover", "--scope", "contrib", "--output", str(tmp_path / "t.yaml")]) != 0 diff --git a/tools/odin/tests/test_discover.py b/tools/odin/tests/test_discover.py index 4ba4542be8f8..bbedd12a03d9 100644 --- a/tools/odin/tests/test_discover.py +++ b/tools/odin/tests/test_discover.py @@ -22,22 +22,24 @@ task_id="Isaac-Ant", scope="core", rl_libraries=("rsl_rl", "rl_games", "skrl"), - modes=(Mode("newton_kamino", None), Mode("newton_mjwarp", None), Mode("physx", None)), + 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),), + modes=(Mode("newton_mjwarp", None, None),), ) # 35 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),)) +_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"), Mode("isaacsim_physx", "isaacsim_rtx")), + modes=(Mode("newton_mjwarp", "ovrtx", None), Mode("isaacsim_physx", "isaacsim_rtx", None)), ) _TASKS = [_ANT, _CONTRIB, _NO_PHYSICS] @@ -63,7 +65,7 @@ def test_physics_filter_replaces_a_cross_backend_selection() -> None: task_id="Isaac-X", scope="core", rl_libraries=("rsl_rl",), - modes=(Mode("newton_mjwarp", None), Mode("ovphysx", None), Mode("newton_kamino", None)), + 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"} diff --git a/tools/odin/tests/test_plan.py b/tools/odin/tests/test_plan.py index ffd648d4f481..dbac07a19d21 100644 --- a/tools/odin/tests/test_plan.py +++ b/tools/odin/tests/test_plan.py @@ -178,3 +178,23 @@ def test_task_without_a_physics_preset_is_planned() -> None: 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" + + +def test_presets_accept_a_single_token() -> None: + row = plan_rows(task_rows=[dict(_ROWS[0], presets="depth")], seeds=[42])[0] + assert row.presets == ("depth",) + + +def test_presets_accept_a_comma_separated_string() -> None: + # Discovery emits one token, but a hand-written list may compose several. + row = plan_rows(task_rows=[dict(_ROWS[0], presets="depth,simple_shading_full_mdl")], seeds=[42])[0] + assert row.presets == ("depth", "simple_shading_full_mdl") + + +def test_presets_accept_a_yaml_list() -> None: + row = plan_rows(task_rows=[dict(_ROWS[0], presets=["depth", "albedo"])], seeds=[42])[0] + assert row.presets == ("depth", "albedo") + + +def test_absent_presets_are_empty() -> None: + assert plan_rows(task_rows=_ROWS, seeds=[42])[0].presets == () diff --git a/tools/odin/tests/test_poller.py b/tools/odin/tests/test_poller.py index 9d6cd278168d..af453bbd2563 100644 --- a/tools/odin/tests/test_poller.py +++ b/tools/odin/tests/test_poller.py @@ -36,6 +36,7 @@ def _job() -> JobEntry: rl_library="rsl_rl", physics="physx", renderer=None, + presets=(), seed=42, num_envs=None, max_iterations=None, diff --git a/tools/odin/tests/test_state.py b/tools/odin/tests/test_state.py index 002664134559..1026a61f4a82 100644 --- a/tools/odin/tests/test_state.py +++ b/tools/odin/tests/test_state.py @@ -27,6 +27,7 @@ def _job(row_key: str = "rsl_rl_physx_Isaac-Ant_seed42") -> JobEntry: rl_library="rsl_rl", physics="physx", renderer=None, + presets=(), seed=42, num_envs=4096, max_iterations=500, diff --git a/tools/odin/tests/test_workflow.py b/tools/odin/tests/test_workflow.py index f740af8b8d9c..0393f82cead3 100644 --- a/tools/odin/tests/test_workflow.py +++ b/tools/odin/tests/test_workflow.py @@ -32,6 +32,7 @@ rl_library="rsl_rl", physics="physx", renderer=None, + presets=(), seed=42, num_envs=None, max_iterations=None, @@ -182,3 +183,13 @@ def test_long_row_key_is_truncated_with_a_stable_hash() -> None: name = osmo_safe_task_name(long_key) assert len(name) <= 63 assert name == osmo_safe_task_name(long_key) + + +def test_multiple_presets_render_as_one_comma_separated_token() -> None: + # The executor imposes no one-at-a-time limit; discovery's is its own. + row = dataclasses.replace(_ROW, presets=("depth", "simple_shading_full_mdl")) + assert "presets=depth,simple_shading_full_mdl" in _script(_render(rows=(row,))) + + +def test_no_presets_token_when_empty() -> None: + assert "presets=" not in _script(_render()) From c1d66c05367a7aebddebc4393af853c057167cb3 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 17:53:34 +0200 Subject: [PATCH 22/33] Fix stale flag name in the generated task-list header The header pointed at --tasks-yaml, which was renamed --tasks_yaml when the CLI moved to snake_case. --- tools/odin/config/tasks.yaml | 4 ++-- tools/odin/discover.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/tools/odin/config/tasks.yaml b/tools/odin/config/tasks.yaml index 68d5483daab8..849457399b24 100644 --- a/tools/odin/config/tasks.yaml +++ b/tools/odin/config/tasks.yaml @@ -1,10 +1,10 @@ # Generated by tools/odin/discover.py. Do not edit by hand -- regenerate, -# or pass a hand-written file to `dispatch --tasks-yaml` to override. +# or pass a hand-written file to `dispatch --tasks_yaml` to override. # # Sizing is absent by design: it is harvested from a real run into # task_metadata.yaml and applied as an overlay. discovery: - generated_at: '2026-07-29T15:40:48Z' + generated_at: '2026-07-29T15:53:33Z' task_count: 87 row_count: 1663 tasks: diff --git a/tools/odin/discover.py b/tools/odin/discover.py index 145389c9c7b3..47ae79754736 100644 --- a/tools/odin/discover.py +++ b/tools/odin/discover.py @@ -381,7 +381,7 @@ def write_task_list(path: Path, rows: list[dict[str, Any]], *, meta: dict[str, A 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" + "# 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" From b1edf9ab57b6b49247ba294777be2c2657a6bb28 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 18:00:25 +0200 Subject: [PATCH 23/33] Record play videos on the four benchmark adapters PlayBundle.video_path and build_play_bundle(video_path=...) existed, but no play adapter could populate them: the video CLI arguments lived in add_common_train_args and were training-only, and wrap_record_video hardcodes a videos/train folder with a periodic step trigger. Camera tasks were therefore benchmarked headless, measuring everything except the thing under test. Adds --video and --video_length to the RSL-RL, RL-Games, SKRL and SB3 play adapters, which now enable cameras, request an rgb_array render mode, wrap the env before the RL vec wrapper, and report the directory on the bundle. Recording starts at the first step rather than on an interval, because a play run is one bounded rollout with no later interval to catch; --video_interval stays training-only. The shared arguments move to add_video_args so training and play cannot drift apart. --- .../antoiner-odin-v2-play-video.rst | 13 +++ .../rl_games/benchmark_play_rl_games.py | 6 +- .../backends/rsl_rl/benchmark_play_rsl_rl.py | 6 +- .../backends/sb3/benchmark_play_sb3.py | 6 +- .../backends/skrl/benchmark_play_skrl.py | 6 +- .../test/benchmark/test_play_video.py | 97 +++++++++++++++++++ .../antoiner-odin-v2-play-video.rst | 8 ++ .../isaaclab_rl/entrypoints/common.py | 67 ++++++++++++- tools/odin/config/tasks.yaml | 5 + 9 files changed, 205 insertions(+), 9 deletions(-) create mode 100644 source/isaaclab/changelog.d/antoiner-odin-v2-play-video.rst create mode 100644 source/isaaclab/test/benchmark/test_play_video.py create mode 100644 source/isaaclab_rl/changelog.d/antoiner-odin-v2-play-video.rst 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..85f60fa1ec3b --- /dev/null +++ b/source/isaaclab/changelog.d/antoiner-odin-v2-play-video.rst @@ -0,0 +1,13 @@ +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. 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/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/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/test/benchmark/test_play_video.py b/source/isaaclab/test/benchmark/test_play_video.py new file mode 100644 index 000000000000..0d2768554373 --- /dev/null +++ b/source/isaaclab/test/benchmark/test_play_video.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 + +"""Video recording on the play benchmark adapters. + +``PlayBundle.video_path`` and ``build_play_bundle(video_path=...)`` existed long +before any adapter could populate them, so a camera task was benchmarked +headless. These tests pin the wiring that closed that gap. +""" + +from __future__ import annotations + +import argparse +import importlib.util +from pathlib import Path + +import pytest + +from isaaclab_rl.entrypoints.common import add_video_args, 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: + # A play run is one bounded rollout, so there is no later interval to catch. + 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_declares_video_arguments(backend: str) -> None: + assert "add_video_args(parser, include_interval=False)" in _adapter_source(backend) + + +@pytest.mark.parametrize("backend", _BACKENDS) +def test_adapter_enables_cameras_for_video(backend: str) -> None: + # Without this the env renders nothing and the recording is blank. + assert "enable_cameras_for_video" in _adapter_source(backend) + + +@pytest.mark.parametrize("backend", _BACKENDS) +def test_adapter_requests_rgb_array_render_mode(backend: str) -> None: + # RecordVideo needs a render mode; gym.make defaults to None. + assert 'render_mode="rgb_array"' in _adapter_source(backend) + + +@pytest.mark.parametrize("backend", _BACKENDS) +def test_adapter_wraps_the_env_for_recording(backend: str) -> None: + assert "wrap_record_video_play" in _adapter_source(backend) + + +@pytest.mark.parametrize("backend", _BACKENDS) +def test_adapter_records_the_video_path_on_the_bundle(backend: str) -> None: + # The schema field is useless if nothing ever sets it. + assert "video_path=_common.play_video_dir(" in _adapter_source(backend) + + +@pytest.mark.parametrize("backend", _BACKENDS) +def test_adapter_module_is_importable_source(backend: str) -> None: + spec = importlib.util.spec_from_file_location( + f"_probe_{backend}", _ADAPTER_ROOT / backend / f"benchmark_play_{backend}.py" + ) + assert spec is not None 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..5a9a9f1b4d5d 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 +559,67 @@ def wrap_sensor_capture(env: gym.Env, log_dir: str, args_cli: argparse.Namespace return CaptureEnvSensors(env, **sensor_capture_kwargs) +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: a play run is one bounded rollout, so there is + no later interval to catch. + + 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 a play video was written to, or ``None``. + + Args: + output_dir: Directory passed to :func:`wrap_record_video_play`. + args_cli: Parsed command-line arguments. + + Returns: + The video directory when recording was requested, else ``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/config/tasks.yaml b/tools/odin/config/tasks.yaml index 849457399b24..3ab421d00774 100644 --- a/tools/odin/config/tasks.yaml +++ b/tools/odin/config/tasks.yaml @@ -1,3 +1,8 @@ +# 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 + # Generated by tools/odin/discover.py. Do not edit by hand -- regenerate, # or pass a hand-written file to `dispatch --tasks_yaml` to override. # From 9b7dbb6651bd78017245b24a05e0ea52c68f33c5 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 18:06:00 +0200 Subject: [PATCH 24/33] Sync the packaging override into the published copies Widening the packaging cap touched only the root pyproject, but the override list is published in two more places that must mirror it: tools/wheel_builder/uv-overrides.txt and the uv_pip install-CI copy. Without them, wheel-based installs would still hit the isaacsim/ovphysx conflict while uv run worked -- a split-brain failure visible only in the wheel path. test_wheel_builder_uv_overrides_match_root_pyproject exists to catch exactly that, and did. Updates test_uv_run_isaacsim_extra_is_conflict_forked, which asserted the isaacsim/ovphysx conflict that was deliberately removed. The pair is now asserted absent, with the reason, so re-adding it fails loudly rather than silently reinstating the split. --- source/isaaclab/test/cli/test_uv_run_pyproject.py | 7 ++++++- source/isaaclab/test/install_ci/uv_pip/uv-overrides.txt | 1 + tools/wheel_builder/uv-overrides.txt | 1 + 3 files changed, 8 insertions(+), 1 deletion(-) 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/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 From a782ccc6559004bf815ff2df7e2dbe81bdb5e849 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 19:15:19 +0200 Subject: [PATCH 25/33] Wire --resume and --retry_failed parent_dispatch_id and reset_in_flight_to_pending sat in the persisted schema promising a capability nothing implemented. A controller that died mid-poll could only be recovered by hand, and failed rows could not be re-dispatched at all -- painful on a 1663-row sweep. --resume re-attaches to a dispatch whose workflows are already submitted, flipping in-flight rows back to pending and re-entering the poll loop. It never re-submits: the workflow ids are recorded, and submitting again would duplicate every task. It refuses a dispatch that never got past planning rather than silently doing nothing. --retry_failed starts a new dispatch containing only the failed rows of another, linked by parent_dispatch_id, reusing the parent's seeds. Retries stay explicit because a benchmark crash usually repeats. Both accept LATEST. --image and --seeds become conditionally optional, with an explicit error rather than an argparse failure that could not explain which path made them optional. --- tools/odin/README.md | 22 ++++ tools/odin/cli.py | 190 ++++++++++++++++++++++++++-- tools/odin/tests/test_cli.py | 234 +++++++++++++++++++++++++++++++++++ 3 files changed, 435 insertions(+), 11 deletions(-) diff --git a/tools/odin/README.md b/tools/odin/README.md index ac9a066abe24..757f5fb6eb82 100644 --- a/tools/odin/README.md +++ b/tools/odin/README.md @@ -164,6 +164,28 @@ 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. +## 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. + ## Inspect and re-pull ```bash diff --git a/tools/odin/cli.py b/tools/odin/cli.py index 2ccf519d40ba..03e47badd834 100644 --- a/tools/odin/cli.py +++ b/tools/odin/cli.py @@ -38,6 +38,7 @@ 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 @@ -114,15 +115,58 @@ def command_build_image(args: argparse.Namespace) -> int: 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 - task_rows = load_task_rows(args.tasks_yaml) - if args.metadata_yaml is not None: - task_rows = apply_metadata(task_rows, load_task_rows(args.metadata_yaml)) - rows = plan_rows(task_rows=task_rows, seeds=args.seeds, include=args.include) + # --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 + + 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) + task_rows, seeds = _failed_rows_from(args.runs_root / parent_dispatch_id) + if not task_rows: + print(f"[odin] {parent_dispatch_id} has no failed rows to retry", file=sys.stderr) + return 1 + print(f"[odin] retrying {len(task_rows)} failed row(s) from {parent_dispatch_id}") + else: + 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)) + + rows = plan_rows(task_rows=task_rows, seeds=seeds, include=args.include) if not rows: print("[odin] no rows matched; nothing to dispatch", file=sys.stderr) return 1 @@ -141,9 +185,10 @@ def command_dispatch(args: argparse.Namespace) -> int: dispatch_id=dispatch_id, started_at=_utc_now_iso(), ended_at=None, - seeds=list(args.seeds), + 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) @@ -170,6 +215,97 @@ def command_dispatch(args: argparse.Namespace) -> int: return _submit_and_poll(args=args, cfg=cfg, state=state, dispatch_dir=dispatch_dir, rendered=rendered) +def _failed_rows_from(dispatch_dir: Path) -> tuple[list[dict], list[int]]: + """Return task rows and seeds reconstructed from a dispatch's failed jobs. + + Only one row per identity is emitted even when several seeds failed; the + seed axis is carried separately so :func:`plan_rows` re-expands it exactly + as the original dispatch did. + + Args: + dispatch_dir: Directory of the dispatch to retry. + + Returns: + ``(task_rows, seeds)`` suitable for :func:`plan_rows`. + + Raises: + PlanError: If the dispatch cannot be read. + """ + state = read_dispatch_state(dispatch_dir) + if state is None: + raise PlanError(f"no dispatch.json under {dispatch_dir}") + + failed = [job for job in state.jobs if job.status == "failed"] + seen: set[tuple] = set() + task_rows: list[dict] = [] + for job in failed: + identity = (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 + task_rows.append(row) + + return task_rows, sorted({job.seed for job in failed}) + + +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, @@ -207,6 +343,25 @@ def _submit_and_poll( 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, @@ -230,14 +385,13 @@ def on_completed(job: JobEntry) -> None: state=state, dispatch_dir=dispatch_dir, on_task_completed=on_completed, - poll_interval_s=args.poll_interval, + poll_interval_s=poll_interval_s, ) state.ended_at = _utc_now_iso() write_dispatch_state(dispatch_dir, state) - failed = [job for job in state.jobs if job.status == "failed"] _print_summary(state) - return 1 if failed else 0 + return 1 if any(job.status == "failed" for job in state.jobs) else 0 def _print_summary(state: DispatchState) -> None: @@ -354,10 +508,10 @@ def _build_parser() -> argparse.ArgumentParser: 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, required=True) - dispatch.add_argument("--image", type=str, required=True, help="Digest-pinned image for side A.") + 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, required=True) + 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", @@ -371,6 +525,20 @@ def _build_parser() -> argparse.ArgumentParser: dispatch.add_argument("--poll_interval", type=float, default=15.0) dispatch.add_argument("--runs_root", type=Path, default=Path("./odin_runs")) 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", diff --git a/tools/odin/tests/test_cli.py b/tools/odin/tests/test_cli.py index d9192f883a67..f053e8fbbc82 100644 --- a/tools/odin/tests/test_cli.py +++ b/tools/odin/tests/test_cli.py @@ -288,3 +288,237 @@ def test_discover_scope_filter_can_empty_the_list(tmp_path: Path, monkeypatch) - 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( + [ + "dispatch", + "--config", + str(workspace / "odin.yaml"), + "--image", + "img@sha256:abc", + "--runs_root", + str(workspace / "runs"), + "--retry_failed", + parent, + "--dry_run", + ] + ) + + 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( + [ + "dispatch", + "--config", + str(workspace / "odin.yaml"), + "--image", + "img@sha256:abc", + "--runs_root", + str(workspace / "runs"), + "--retry_failed", + parent, + "--dry_run", + ] + ) + + child = sorted((workspace / "runs").iterdir())[-1] + assert json.loads((child / "dispatch.json").read_text())["seeds"] + + +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( + [ + "dispatch", + "--config", + str(workspace / "odin.yaml"), + "--image", + "img", + "--runs_root", + str(workspace / "runs"), + "--retry_failed", + parent, + "--dry_run", + ] + ) + 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, which is how an + # undefined name survived until ruff caught 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 From aa5968de10fcbc4e02df702c7c4a30189118560d Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 19:21:48 +0200 Subject: [PATCH 26/33] Chain a play rollout after training in one OSMO task Goal #2 needs videos and checkpoints for the Core tasks. --play runs the rollout in the same task as training, so it reads the checkpoint just written with no cross-task handoff, no shared storage round trip, and no dependency graph to get wrong. TrainingBundle.checkpoint_path was hardcoded None in the RSL-RL, RL-Games, and SKRL training benchmarks -- the same dead-field shape as video_path -- so there was nothing for a chained step to read. It now reports the checkpoint that actually landed on disk, found by latest_checkpoint_path since the libraries name and place them differently and none return the path. The chained step is skipped when training failed or wrote no checkpoint, and the task exits with the training 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. Verified beyond rendering: the entry script passes bash -n, the embedded extractor parses and returns the right path on a real bundle shape and nothing on a null field, and the workflow validates against live OSMO. --- .../antoiner-odin-v2-play-video.rst | 8 ++++ .../rl_games/benchmark_train_rl_games.py | 2 +- .../backends/rsl_rl/benchmark_train_rsl_rl.py | 2 +- .../backends/skrl/benchmark_train_skrl.py | 2 +- .../test/benchmark/test_play_video.py | 32 +++++++++++++ .../isaaclab_rl/entrypoints/common.py | 25 ++++++++++ tools/odin/README.md | 19 ++++++++ tools/odin/cli.py | 11 +++++ tools/odin/plan.py | 12 +++++ tools/odin/templates/dispatch.yaml.j2 | 37 ++++++++++++++- tools/odin/tests/test_chunking.py | 2 + tools/odin/tests/test_workflow.py | 47 +++++++++++++++++++ 12 files changed, 195 insertions(+), 4 deletions(-) diff --git a/source/isaaclab/changelog.d/antoiner-odin-v2-play-video.rst b/source/isaaclab/changelog.d/antoiner-odin-v2-play-video.rst index 85f60fa1ec3b..1163af3f808b 100644 --- a/source/isaaclab/changelog.d/antoiner-odin-v2-play-video.rst +++ b/source/isaaclab/changelog.d/antoiner-odin-v2-play-video.rst @@ -11,3 +11,11 @@ Added :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. 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_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/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 index 0d2768554373..e9bd99ce290c 100644 --- a/source/isaaclab/test/benchmark/test_play_video.py +++ b/source/isaaclab/test/benchmark/test_play_video.py @@ -95,3 +95,35 @@ def test_adapter_module_is_importable_source(backend: str) -> None: f"_probe_{backend}", _ADAPTER_ROOT / backend / f"benchmark_play_{backend}.py" ) assert spec is not None + + +@pytest.mark.parametrize("backend", ("rsl_rl", "rl_games", "skrl")) +def test_training_reports_the_checkpoint_it_wrote(backend: str) -> None: + # checkpoint_path was hardcoded None in three of four train adapters, so the + # schema field was dead and a chained play step had nothing to read. + 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 diff --git a/source/isaaclab_rl/isaaclab_rl/entrypoints/common.py b/source/isaaclab_rl/isaaclab_rl/entrypoints/common.py index 5a9a9f1b4d5d..5afbb0e23539 100644 --- a/source/isaaclab_rl/isaaclab_rl/entrypoints/common.py +++ b/source/isaaclab_rl/isaaclab_rl/entrypoints/common.py @@ -559,6 +559,31 @@ def wrap_sensor_capture(env: gym.Env, log_dir: str, args_cli: argparse.Namespace return CaptureEnvSensors(env, **sensor_capture_kwargs) +def latest_checkpoint_path(log_dir: str, patterns: tuple[str, ...] = ("model_*.pt", "*.pth", "*.zip")) -> 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. + + Args: + log_dir: Training log directory. + patterns: Glob patterns to search, in priority order. + + 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 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. diff --git a/tools/odin/README.md b/tools/odin/README.md index 757f5fb6eb82..26d140eba2f3 100644 --- a/tools/odin/README.md +++ b/tools/odin/README.md @@ -164,6 +164,25 @@ 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`. That field +was hardcoded `None` in three of the four train adapters until this branch, so +it reported nothing; it now records what actually landed on disk. + ## Recover a dispatch A controller that dies mid-poll leaves rows stuck in `running` while OSMO keeps diff --git a/tools/odin/cli.py b/tools/odin/cli.py index 03e47badd834..450a6bdbaee3 100644 --- a/tools/odin/cli.py +++ b/tools/odin/cli.py @@ -166,6 +166,11 @@ def command_dispatch(args: argparse.Namespace) -> int: if args.metadata_yaml is not None: task_rows = apply_metadata(task_rows, load_task_rows(args.metadata_yaml)) + if args.play: + task_rows = [ + dict(row, play=True, **({"video_length": args.video_length} if args.video_length else {})) + for row in task_rows + ] rows = plan_rows(task_rows=task_rows, seeds=seeds, include=args.include) if not rows: print("[odin] no rows matched; nothing to dispatch", file=sys.stderr) @@ -524,6 +529,12 @@ def _build_parser() -> argparse.ArgumentParser: 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("--dry_run", action="store_true") dispatch.add_argument( "--resume", diff --git a/tools/odin/plan.py b/tools/odin/plan.py index a74d8c3a8906..fa595c5e1a5f 100644 --- a/tools/odin/plan.py +++ b/tools/odin/plan.py @@ -54,6 +54,9 @@ DEFAULT_PROFILE = "full" +# Frames recorded during a chained play rollout. +DEFAULT_VIDEO_LENGTH = 200 + _RL_LIBRARIES = frozenset({"rsl_rl", "rl_games", "skrl", "sb3"}) # ``physics`` is deliberately absent: 35 of the 87 usable tasks declare no @@ -78,6 +81,9 @@ class PlannedRow: 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. + 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. @@ -96,6 +102,8 @@ class PlannedRow: physics: str | None renderer: str | None presets: tuple[str, ...] + play: bool + video_length: int seed: int num_envs: int | None max_iterations: int | None @@ -275,6 +283,8 @@ def plan_rows( physics = str(physics) if physics else None renderer = entry.get("renderer") presets = normalize_presets(entry.get("presets")) + play = bool(entry.get("play", False)) + video_length = int(entry.get("video_length", DEFAULT_VIDEO_LENGTH)) profile = str(entry.get("profile") or DEFAULT_PROFILE) extras = uv_extras_for_profile(profile) @@ -291,6 +301,8 @@ def plan_rows( physics=physics, renderer=renderer, presets=presets, + play=play, + video_length=video_length, seed=int(seed), num_envs=_optional_int(entry.get("num_envs")), max_iterations=_optional_int(entry.get("max_iterations")), diff --git a/tools/odin/templates/dispatch.yaml.j2 b/tools/odin/templates/dispatch.yaml.j2 index 34e4d9fca830..4ac7d590e7b9 100644 --- a/tools/odin/templates/dispatch.yaml.j2 +++ b/tools/odin/templates/dispatch.yaml.j2 @@ -43,9 +43,44 @@ workflow: 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=$rc ===" +{% if row.play %} + # Play is chained in the same task so it can read the checkpoint + # training just wrote, with no cross-task handoff. It is skipped when + # training failed: there is nothing to roll out, and a play error + # would otherwise mask the real verdict. + if [ "$rc" -eq 0 ]; then + CKPT=$(python3 - "$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 + ) + if [ -n "$CKPT" ]; then + 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 "$OUT" --benchmark_formatter schema --video --video_length {{ row.video_length }}{% if row.physics %} physics={{ row.physics }}{% endif %}{% if row.renderer %} renderer={{ row.renderer }}{% endif %}{% if row.presets %} presets={{ row.presets | join(',') }}{% endif %} + + play_rc=$? + echo "=== odin: play exit_code=$play_rc ===" + else + echo "=== odin: training wrote no checkpoint; skipping play ===" + fi + else + echo "=== odin: training failed; skipping play ===" + fi +{% endif %} set -e - echo "=== odin: benchmark exit_code=$rc ===" find "$OUT" -type f | head -40 + # Training is the verdict: a play failure must not turn a good + # training run into a red row. exit $rc # OSMO uploads {{ '{{output}}' }} itself, after exec and regardless of exit # code, so a crashed run still returns what it produced and no publishing diff --git a/tools/odin/tests/test_chunking.py b/tools/odin/tests/test_chunking.py index 4d921b4b56d1..79d0d4e931d2 100644 --- a/tools/odin/tests/test_chunking.py +++ b/tools/odin/tests/test_chunking.py @@ -18,6 +18,8 @@ def _row(key: str, timeout_s: int | None) -> PlannedRow: physics="physx", renderer=None, presets=(), + play=False, + video_length=200, seed=42, num_envs=None, max_iterations=None, diff --git a/tools/odin/tests/test_workflow.py b/tools/odin/tests/test_workflow.py index 0393f82cead3..3a5d6c70c3ac 100644 --- a/tools/odin/tests/test_workflow.py +++ b/tools/odin/tests/test_workflow.py @@ -33,6 +33,8 @@ physics="physx", renderer=None, presets=(), + play=False, + video_length=200, seed=42, num_envs=None, max_iterations=None, @@ -193,3 +195,48 @@ def test_multiple_presets_render_as_one_comma_separated_token() -> None: def test_no_presets_token_when_empty() -> None: assert "presets=" not in _script(_render()) + + +def test_play_is_not_chained_by_default() -> None: + script = _script(_render()) + assert "isaaclab benchmark play" not in script + + +def test_chained_play_reads_the_training_checkpoint() -> None: + row = dataclasses.replace(_ROW, play=True) + script = _script(_render(rows=(row,))) + assert "isaaclab benchmark play" in script + assert '--checkpoint "$CKPT"' in script + assert "benchmark_training_*.json" in script + + +def test_chained_play_records_a_video() -> None: + row = dataclasses.replace(_ROW, play=True, video_length=120) + script = _script(_render(rows=(row,))) + assert "--video " in script or "--video\n" in script + assert "--video_length 120" in script + + +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" -eq 0 ]; then' in script + assert "training failed; skipping play" in script + + +def test_chained_play_is_skipped_without_a_checkpoint() -> None: + script = _script(_render(rows=(dataclasses.replace(_ROW, play=True),))) + assert "wrote no checkpoint; skipping play" 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 From d477491fd05823d25df7c7b5a660aa25b5079bf1 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 19:35:01 +0200 Subject: [PATCH 27/33] Record which steps ran, and stop calling a missing interpreter The chained entry script invoked python3 to read the checkpoint out of the training bundle, but the image is nvidia/cuda plus uv, and uv manages its own Python -- there is no python3 on PATH. The call would have failed with command not found, the substitution would have yielded an empty string, and the row would have reported 'training wrote no checkpoint': a wrong diagnosis for a missing interpreter. Uses the venv interpreter uv sync created instead. Every row now writes odin-steps.json recording the training exit code, whether a checkpoint was found and where, why play did or did not run (not_requested, skipped_training_failed, skipped_no_checkpoint, ran) and its exit code, plus an artifact listing. The bundles say what a run measured; this says what happened, which is what a row returning less than expected needs. Writing it can never fail the task. Verified by executing the rendered script inside the real image on both paths -- training-failed and checkpoint-found-play-ran -- not just with bash -n, which is what missed the interpreter in the first place. --- tools/odin/README.md | 19 +++++++++ tools/odin/templates/dispatch.yaml.j2 | 55 ++++++++++++++++++++++----- tools/odin/tests/test_workflow.py | 36 ++++++++++++++++-- 3 files changed, 98 insertions(+), 12 deletions(-) diff --git a/tools/odin/README.md b/tools/odin/README.md index 26d140eba2f3..1d423dd80d1c 100644 --- a/tools/odin/README.md +++ b/tools/odin/README.md @@ -183,6 +183,25 @@ The checkpoint is read from the training bundle's `checkpoint_path`. That field was hardcoded `None` in three of the four train adapters until this branch, so it reported nothing; it now records 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 diff --git a/tools/odin/templates/dispatch.yaml.j2 b/tools/odin/templates/dispatch.yaml.j2 index 4ac7d590e7b9..14052528166b 100644 --- a/tools/odin/templates/dispatch.yaml.j2 +++ b/tools/odin/templates/dispatch.yaml.j2 @@ -44,13 +44,24 @@ workflow: rc=$? echo "=== odin: training exit_code=$rc ===" + + # The base image is nvidia/cuda plus uv, which manages its own Python: + # there is no system python3 on PATH. Use the venv interpreter that + # `uv sync` created at build time. + PY=/workspace/isaaclab/.venv/bin/python + + CKPT="" + PLAY_RC="" + PLAY_STATUS="not_requested" {% if row.play %} # Play is chained in the same task so it can read the checkpoint # training just wrote, with no cross-task handoff. It is skipped when # training failed: there is nothing to roll out, and a play error # would otherwise mask the real verdict. - if [ "$rc" -eq 0 ]; then - CKPT=$(python3 - "$OUT" <<'PYEOF' + if [ "$rc" -ne 0 ]; then + PLAY_STATUS="skipped_training_failed" + else + CKPT=$("$PY" - "$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): @@ -64,19 +75,45 @@ workflow: break PYEOF ) - if [ -n "$CKPT" ]; then + if [ -z "$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 "$OUT" --benchmark_formatter schema --video --video_length {{ row.video_length }}{% if row.physics %} physics={{ row.physics }}{% endif %}{% if row.renderer %} renderer={{ row.renderer }}{% endif %}{% if row.presets %} presets={{ row.presets | join(',') }}{% endif %} - play_rc=$? - echo "=== odin: play exit_code=$play_rc ===" - else - echo "=== odin: training wrote no checkpoint; skipping play ===" + PLAY_RC=$? + PLAY_STATUS="ran" + echo "=== odin: play exit_code=$PLAY_RC ===" fi - else - echo "=== odin: training failed; skipping play ===" fi {% endif %} + # A per-row record of which steps ran and why any did not. The bundles + # say what a run measured; this says what happened, which is what you + # need when a row comes back with less than expected. + "$PY" - "$OUT" "$rc" "$PLAY_STATUS" "$PLAY_RC" "$CKPT" <<'PYEOF' || echo "=== odin: could not write odin-steps.json ===" + import json, os, sys + out, rc, play_status, play_rc, checkpoint = sys.argv[1:6] + record = { + "row_key": os.environ.get("ODIN_ROW_KEY", ""), + "dispatch_id": os.environ.get("ODIN_DISPATCH_ID", ""), + "training": {"ran": True, "exit_code": int(rc)}, + "checkpoint": {"found": bool(checkpoint), "path": checkpoint or None}, + "play": { + "status": play_status, + "exit_code": int(play_rc) if play_rc else None, + }, + "artifacts": sorted( + os.path.relpath(os.path.join(root, name), out) + for root, _dirs, files in os.walk(out) + for name in files + )[:200], + } + with open(os.path.join(out, "odin-steps.json"), "w") as handle: + json.dump(record, handle, indent=2) + print("=== odin: steps ===") + print(json.dumps({k: v for k, v in record.items() if k != "artifacts"}, indent=2)) + PYEOF + set -e find "$OUT" -type f | head -40 # Training is the verdict: a play failure must not turn a good diff --git a/tools/odin/tests/test_workflow.py b/tools/odin/tests/test_workflow.py index 3a5d6c70c3ac..59c44b1f5a16 100644 --- a/tools/odin/tests/test_workflow.py +++ b/tools/odin/tests/test_workflow.py @@ -220,13 +220,13 @@ def test_chained_play_records_a_video() -> None: 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 [ "$rc" -eq 0 ]; then' in script - assert "training failed; skipping play" in script + assert 'if [ "$rc" -ne 0 ]; then' in script + assert 'PLAY_STATUS="skipped_training_failed"' in script def test_chained_play_is_skipped_without_a_checkpoint() -> None: script = _script(_render(rows=(dataclasses.replace(_ROW, play=True),))) - assert "wrote no checkpoint; skipping play" in script + assert 'PLAY_STATUS="skipped_no_checkpoint"' in script def test_training_exit_code_remains_the_verdict() -> None: @@ -240,3 +240,33 @@ def test_chained_script_carries_the_same_presets_to_both_steps() -> None: 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 + + +def test_every_row_writes_a_step_record() -> None: + # Bundles say what a run measured; this says what happened. + assert "odin-steps.json" in _script(_render()) + + +def test_step_record_distinguishes_why_play_did_not_run() -> None: + script = _script(_render(rows=(dataclasses.replace(_ROW, play=True),))) + for status in ("skipped_training_failed", "skipped_no_checkpoint", "ran"): + assert status in script + + +def test_step_record_marks_play_not_requested_when_disabled() -> None: + assert 'PLAY_STATUS="not_requested"' in _script(_render()) + + +def test_step_record_failure_cannot_fail_the_task() -> None: + # Diagnostics must never be the reason a good run goes red. + assert "could not write odin-steps.json" in _script(_render()) From a76433e0324d9c1f9da6c0ebde72edafc0bd1389 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 19:42:52 +0200 Subject: [PATCH 28/33] Retain checkpoints, and stop harvest mixing A/B sides Two bugs found while drafting the data-side design doc. Checkpoints were never uploaded. RL libraries write them under logs/, but OSMO collects only {{output}}, and nothing copied them across -- so the stated goal of producing videos and checkpoints delivered videos and silently lost every checkpoint, while odin-steps.json reported a path that died with the container. --keep_checkpoints copies it into the uploaded output and the step record reports where it landed. Checkpoint resolution now happens whether or not play is chained: retaining a policy and rolling it out are separate concerns, and a training-only sweep should still be able to keep its weights. harvest grouped by (task, library, physics) alone, so an A/B dispatch averaged both commits into one baseline, and a depth rollout was pooled with an RGB one on the same task and backend. It now excludes side B using dispatch.json and segments by renderer and presets. Also drops a stale README claim that play video was not yet possible, and documents that only --output_path survives the container. Verified in the real image: the checkpoint copy lands and the step record reads retained_as checkpoint/model_500.pt. --- tools/odin/README.md | 9 ++-- tools/odin/cli.py | 19 ++++++--- tools/odin/harvest.py | 37 +++++++++++++++-- tools/odin/plan.py | 6 +++ tools/odin/templates/dispatch.yaml.j2 | 59 +++++++++++++++++--------- tools/odin/tests/test_chunking.py | 1 + tools/odin/tests/test_harvest.py | 60 +++++++++++++++++++++++++++ tools/odin/tests/test_workflow.py | 25 +++++++++++ 8 files changed, 183 insertions(+), 33 deletions(-) diff --git a/tools/odin/README.md b/tools/odin/README.md index 1d423dd80d1c..467da81b724b 100644 --- a/tools/odin/README.md +++ b/tools/odin/README.md @@ -298,14 +298,13 @@ drift cannot wedge the poll loop or be misread as a benchmark crash. 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. -- **Play videos are not yet possible.** `PlayBundle.video_path` and - `builders.build_play_bundle(video_path=...)` exist upstream, but none of the - four play benchmark adapters has a `--video` flag or calls - `wrap_record_video`; the video CLI arguments live in `add_common_train_args` - and are training-only. That gap has to close upstream first. ## Running the tests diff --git a/tools/odin/cli.py b/tools/odin/cli.py index 450a6bdbaee3..ac7f3925d21a 100644 --- a/tools/odin/cli.py +++ b/tools/odin/cli.py @@ -166,11 +166,15 @@ def command_dispatch(args: argparse.Namespace) -> int: if args.metadata_yaml is not None: task_rows = apply_metadata(task_rows, load_task_rows(args.metadata_yaml)) - if args.play: - task_rows = [ - dict(row, play=True, **({"video_length": args.video_length} if args.video_length else {})) - for row in task_rows - ] + 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 + task_rows = [dict(row, **overrides) for row in task_rows] rows = plan_rows(task_rows=task_rows, seeds=seeds, include=args.include) if not rows: print("[odin] no rows matched; nothing to dispatch", file=sys.stderr) @@ -535,6 +539,11 @@ def _build_parser() -> argparse.ArgumentParser: 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", diff --git a/tools/odin/harvest.py b/tools/odin/harvest.py index 7c2b1be8e7c4..26e3ba5487e0 100644 --- a/tools/odin/harvest.py +++ b/tools/odin/harvest.py @@ -50,6 +50,8 @@ class TaskMetadata: 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]. @@ -63,6 +65,8 @@ class TaskMetadata: task_id: str rl_library: str physics: str + renderer: str + presets: str num_envs: int | None max_iterations: int | None duration_s_max: float @@ -129,8 +133,23 @@ def harvest_dispatch(dispatch_dir: Path, *, timeout_headroom: float = DEFAULT_TI if timeout_headroom <= 0: raise ValueError(f"timeout_headroom must be > 0, got {timeout_headroom}") - grouped: dict[tuple[str, str, str], list[dict[str, Any]]] = {} + # 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. + 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): + payload = {} + 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 @@ -139,13 +158,19 @@ def harvest_dispatch(dispatch_dir: Path, *, timeout_headroom: float = DEFAULT_TI continue task_id = run.get("task") rl_library = run.get("framework") - physics = (run.get("config") or {}).get("physics_backend") + config = run.get("config") or {} + physics = config.get("physics_backend") if not (task_id and rl_library and physics): continue - grouped.setdefault((str(task_id), str(rl_library), str(physics)), []).append(bundle) + # 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), bundles in sorted(grouped.items()): + 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 {} @@ -155,6 +180,8 @@ def harvest_dispatch(dispatch_dir: Path, *, timeout_headroom: float = DEFAULT_TI 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), @@ -180,6 +207,8 @@ def write_task_metadata(path: Path, entries: list[TaskMetadata]) -> None: "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, diff --git a/tools/odin/plan.py b/tools/odin/plan.py index fa595c5e1a5f..bed36d0c758a 100644 --- a/tools/odin/plan.py +++ b/tools/odin/plan.py @@ -83,6 +83,9 @@ class PlannedRow: ``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 @@ -103,6 +106,7 @@ class PlannedRow: renderer: str | None presets: tuple[str, ...] play: bool + keep_checkpoint: bool video_length: int seed: int num_envs: int | None @@ -284,6 +288,7 @@ def plan_rows( 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)) profile = str(entry.get("profile") or DEFAULT_PROFILE) extras = uv_extras_for_profile(profile) @@ -302,6 +307,7 @@ def plan_rows( 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")), diff --git a/tools/odin/templates/dispatch.yaml.j2 b/tools/odin/templates/dispatch.yaml.j2 index 14052528166b..f113c810125c 100644 --- a/tools/odin/templates/dispatch.yaml.j2 +++ b/tools/odin/templates/dispatch.yaml.j2 @@ -51,16 +51,13 @@ workflow: PY=/workspace/isaaclab/.venv/bin/python CKPT="" + KEPT="" PLAY_RC="" PLAY_STATUS="not_requested" -{% 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 [ "$rc" -ne 0 ]; then - PLAY_STATUS="skipped_training_failed" - else + + # Resolve the checkpoint regardless of what happens next: retaining it + # and rolling it out are separate concerns. + if [ "$rc" -eq 0 ]; then CKPT=$("$PY" - "$OUT" <<'PYEOF' import glob, json, os, sys candidates = sorted(glob.glob(os.path.join(sys.argv[1], "benchmark_training_*.json"))) @@ -75,29 +72,53 @@ workflow: break PYEOF ) - if [ -z "$CKPT" ]; then - PLAY_STATUS="skipped_no_checkpoint" + 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: 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=$PLAY_RC ===" + echo "=== odin: could not copy checkpoint ===" fi fi +{% endif %} +{% if row.play %} + # Play is chained in the same task so it can read the checkpoint + # training just wrote, with no cross-task handoff. It is skipped when + # training failed: there is nothing to roll out, and a play error + # would otherwise mask the real verdict. + if [ "$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" "$CKPT" <<'PYEOF' || echo "=== odin: could not write odin-steps.json ===" + "$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 = sys.argv[1:6] + 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), "path": checkpoint or None}, + "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, diff --git a/tools/odin/tests/test_chunking.py b/tools/odin/tests/test_chunking.py index 79d0d4e931d2..e0fc86e8ecd0 100644 --- a/tools/odin/tests/test_chunking.py +++ b/tools/odin/tests/test_chunking.py @@ -19,6 +19,7 @@ def _row(key: str, timeout_s: int | None) -> PlannedRow: renderer=None, presets=(), play=False, + keep_checkpoint=False, video_length=200, seed=42, num_envs=None, diff --git a/tools/odin/tests/test_harvest.py b/tools/odin/tests/test_harvest.py index 828d1e208e4a..edcae35ee802 100644 --- a/tools/odin/tests/test_harvest.py +++ b/tools/odin/tests/test_harvest.py @@ -157,3 +157,63 @@ def test_written_metadata_is_a_valid_seed_list_overlay(tmp_path: Path) -> None: # 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_workflow.py b/tools/odin/tests/test_workflow.py index 59c44b1f5a16..829c3e921150 100644 --- a/tools/odin/tests/test_workflow.py +++ b/tools/odin/tests/test_workflow.py @@ -34,6 +34,7 @@ renderer=None, presets=(), play=False, + keep_checkpoint=False, video_length=200, seed=42, num_envs=None, @@ -270,3 +271,27 @@ def test_step_record_marks_play_not_requested_when_disabled() -> None: def test_step_record_failure_cannot_fail_the_task() -> None: # Diagnostics must never be the reason a good run goes red. assert "could not write odin-steps.json" in _script(_render()) + + +def test_checkpoint_is_not_retained_by_default() -> None: + assert '"$OUT/checkpoint"' not in _script(_render()) + + +def test_keep_checkpoint_copies_it_into_the_uploaded_output() -> None: + # OSMO uploads only {{output}}; RL libraries write checkpoints under logs/, + # so without this copy the run is un-replayable. + script = _script(_render(rows=(dataclasses.replace(_ROW, keep_checkpoint=True),))) + assert 'mkdir -p "$OUT/checkpoint"' in script + assert 'cp "$CKPT" "$OUT/checkpoint/"' in script + + +def test_checkpoint_is_resolved_even_without_play() -> None: + # Retaining a checkpoint and rolling it out are separate concerns. + script = _script(_render(rows=(dataclasses.replace(_ROW, keep_checkpoint=True),))) + assert "benchmark_training_*.json" in script + assert "isaaclab benchmark play" not in script + + +def test_step_record_reports_where_the_checkpoint_was_retained() -> None: + script = _script(_render(rows=(dataclasses.replace(_ROW, keep_checkpoint=True),))) + assert "retained_as" in script From 0369de7abdfdf87ec85e5a5f82d5a5396a9aa645 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 20:19:26 +0200 Subject: [PATCH 29/33] Fix five dispatch-losing bugs in the OdinV2 pipeline Each of these silently changes the verdict of a real dispatch: - The entry script's `find "$OUT" -type f | head -40` runs under `set -o pipefail`. `head` closes the pipe, `find` takes SIGPIPE, and the pipeline exits 141, ending the script before `exit $rc`. It only triggers once a run produces enough files to fill head's buffer, so small tests pass and production rows fail. - `latest_checkpoint_path` globbed `model_*.pt`, which matches RSL-RL only. SKRL writes `agent_.pt`, `best_agent.pt` and `_.pt`, so every SKRL row reported no checkpoint and any chained play step took the `skipped_no_checkpoint` branch. - `JobEntry.physics` is legitimately None for tasks that declare no physics preset, but `_job_from_dict` coerced it with `str()`. Reload produced the string "None", which passes every `is not None` guard and renders `physics=None` into a retry's workflow. - A COMPLETED row whose bundle does not parse is reclassified as failed by the fetch hook. OSMO keeps reporting COMPLETED, so the next tick attempted an illegal failed -> completed transition, and the uncaught ValueError abandoned every still-running row. - `osmo workflow query` takes `-t/--format-type`, not `--output`, so the JSON path had never once run: every query fell through to the table parser, which reports no exit code at all. Worse, the JSON parser read a top-level `tasks` key that OSMO does not emit -- tasks are nested under `groups[].tasks[]` and the workflow is named by `name`. Both are now matched against a real query response, and the table fallback is gone. --- .../antoiner-odin-v2-play-video.rst | 3 +- .../test/benchmark/test_play_video.py | 23 ++++- .../isaaclab_rl/entrypoints/common.py | 18 +++- tools/odin/client.py | 86 ++++--------------- tools/odin/poller.py | 10 ++- tools/odin/state.py | 19 ++-- tools/odin/templates/dispatch.yaml.j2 | 5 +- tools/odin/tests/test_client.py | 46 +++++++--- tools/odin/tests/test_poller.py | 28 +++++- tools/odin/tests/test_state.py | 14 +++ tools/odin/tests/test_workflow.py | 7 ++ 11 files changed, 160 insertions(+), 99 deletions(-) diff --git a/source/isaaclab/changelog.d/antoiner-odin-v2-play-video.rst b/source/isaaclab/changelog.d/antoiner-odin-v2-play-video.rst index 1163af3f808b..e546860b194a 100644 --- a/source/isaaclab/changelog.d/antoiner-odin-v2-play-video.rst +++ b/source/isaaclab/changelog.d/antoiner-odin-v2-play-video.rst @@ -18,4 +18,5 @@ 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. + 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/test/benchmark/test_play_video.py b/source/isaaclab/test/benchmark/test_play_video.py index e9bd99ce290c..741b2495aedb 100644 --- a/source/isaaclab/test/benchmark/test_play_video.py +++ b/source/isaaclab/test/benchmark/test_play_video.py @@ -18,7 +18,7 @@ import pytest -from isaaclab_rl.entrypoints.common import add_video_args, play_video_dir +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/... @@ -127,3 +127,24 @@ def test_latest_checkpoint_path_is_none_when_nothing_was_written(tmp_path: Path) 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_rl/isaaclab_rl/entrypoints/common.py b/source/isaaclab_rl/isaaclab_rl/entrypoints/common.py index 5afbb0e23539..4f78d3745652 100644 --- a/source/isaaclab_rl/isaaclab_rl/entrypoints/common.py +++ b/source/isaaclab_rl/isaaclab_rl/entrypoints/common.py @@ -559,16 +559,26 @@ def wrap_sensor_capture(env: gym.Env, log_dir: str, args_cli: argparse.Namespace return CaptureEnvSensors(env, **sensor_capture_kwargs) -def latest_checkpoint_path(log_dir: str, patterns: tuple[str, ...] = ("model_*.pt", "*.pth", "*.zip")) -> str | None: +_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. + 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. - patterns: Glob patterns to search, in priority order. Returns: Absolute path to the most recently modified match, or ``None`` when the @@ -577,7 +587,7 @@ def latest_checkpoint_path(log_dir: str, patterns: tuple[str, ...] = ("model_*.p import glob matches: list[str] = [] - for pattern in patterns: + for pattern in _CHECKPOINT_PATTERNS: matches.extend(glob.glob(os.path.join(log_dir, "**", pattern), recursive=True)) if not matches: return None diff --git a/tools/odin/client.py b/tools/odin/client.py index f9b6d27b32a8..5047a4c8df5d 100644 --- a/tools/odin/client.py +++ b/tools/odin/client.py @@ -70,16 +70,6 @@ class WorkflowSnapshot: ) _WORKFLOW_ID_PATTERN = re.compile(r"^Workflow ID\s+-\s+(\S+)", re.MULTILINE) -_UNKNOWN_FLAG_PATTERNS = ( - re.compile(r"unknown flag", re.IGNORECASE), - re.compile(r"unrecognized argument", re.IGNORECASE), - re.compile(r"--output.*not recognized", re.IGNORECASE), -) - - -def _looks_like_unknown_flag(stderr: str) -> bool: - return any(p.search(stderr) for p in _UNKNOWN_FLAG_PATTERNS) - def _classify(stderr: str) -> type[OsmoCliError]: if _AUTH_PATTERN.search(stderr): @@ -148,9 +138,6 @@ def submit(self, yaml_path: Path, *, pool: str | None = None, priority: str | No def status(self, workflow_id: str) -> WorkflowSnapshot: """Fetch the workflow snapshot. - Tries ``--output json`` first; if the flag is unrecognized, retries - with the default table output and parses that. - Args: workflow_id: The OSMO workflow ID returned by :meth:`submit`. @@ -160,79 +147,38 @@ def status(self, workflow_id: str) -> WorkflowSnapshot: Raises: OsmoAuthError, OsmoTransientError, OsmoCliError: per :func:`_classify`. """ - cmd_json = [self._exe, "workflow", "query", workflow_id, "--output", "json"] - cp = self._run(cmd_json) - if cp.returncode == 0: - return self._parse_status_json(cp.stdout, workflow_id) - if _looks_like_unknown_flag(cp.stderr): - cp2 = self._run([self._exe, "workflow", "query", workflow_id]) - if cp2.returncode != 0: - raise _classify(cp2.stderr)(f"`osmo workflow query` failed: {cp2.stderr.strip()}") - return self._parse_status_table(cp2.stdout, workflow_id) - raise _classify(cp.stderr)(f"`osmo workflow query` failed: {cp.stderr.strip()}") + 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(t["name"]), - status=str(t["status"]), - exit_code=(None if t.get("exit_code") in (None, "-") else int(t["exit_code"])), + name=str(task["name"]), + status=str(task["status"]), + exit_code=(None if task.get("exit_code") in (None, "-") else int(task["exit_code"])), ) - for t in data.get("tasks") or [] + for group in data.get("groups") or [] + for task in group.get("tasks") or [] ] return WorkflowSnapshot( - workflow_id=str(data.get("id", workflow_id)), + workflow_id=str(data.get("name") or workflow_id), status=str(data["status"]), tasks=tasks, ) - @staticmethod - def _parse_status_table(stdout: str, workflow_id: str) -> WorkflowSnapshot: - """Parse the table form of ``osmo workflow query``. - - OSMO's table looks like:: - - Workflow ID : odin-disp-... - Status : COMPLETED - ... - Task Name Start Time Status - ===================================================================== - rsl-rl-physx-isaac-cartpole-... May 11, 2026 16:46 CEST COMPLETED - - The ``Status :`` line ("workflow status") uses ``: `` (colon-space) - separator; ``Task Name`` is the data-table header. Data rows have - the task name as the first whitespace-delimited token and the - status as the last; the middle (Start Time) contains spaces and - is ignored. - """ - wf_status = "UNKNOWN" - tasks: list[TaskSnapshot] = [] - in_tasks = False - for raw in stdout.splitlines(): - line = raw.strip() - if not line or line.startswith("===") or line.startswith("---"): - continue - if line.startswith("Status") and ":" in line: - wf_status = line.split(":", 1)[1].strip() - continue - if line.startswith("Task Name"): - in_tasks = True - continue - if not in_tasks: - continue - parts = line.split() - if len(parts) < 2: - continue - name = parts[0] - status = parts[-1] - tasks.append(TaskSnapshot(name=name, status=status, exit_code=None)) - return WorkflowSnapshot(workflow_id=workflow_id, status=wf_status, tasks=tasks) - def validate(self, yaml_path: Path) -> None: """Validate a workflow YAML server-side without submitting it. diff --git a/tools/odin/poller.py b/tools/odin/poller.py index d0214c9bc5b8..dbfb968c8c86 100644 --- a/tools/odin/poller.py +++ b/tools/odin/poller.py @@ -150,10 +150,14 @@ def sync_once( # 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") - if job.row_key not in completed_seen: - completed_seen.add(job.row_key) - on_task_completed(job) + on_task_completed(job) elif new_status == "failed": job.transition_to( "failed", diff --git a/tools/odin/state.py b/tools/odin/state.py index 07938a5c6721..02379bba7da9 100644 --- a/tools/odin/state.py +++ b/tools/odin/state.py @@ -65,7 +65,8 @@ class JobEntry: 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=``. + 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. @@ -83,7 +84,7 @@ class JobEntry: row_key: str task_id: str rl_library: str - physics: str + physics: str | None renderer: str | None presets: tuple[str, ...] seed: int @@ -216,6 +217,10 @@ 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: @@ -228,8 +233,8 @@ def _job_from_dict(payload: dict[str, Any]) -> JobEntry: row_key=str(payload["row_key"]), task_id=str(payload["task_id"]), rl_library=str(payload["rl_library"]), - physics=str(payload["physics"]), - renderer=payload.get("renderer"), + 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")), @@ -239,11 +244,11 @@ def _job_from_dict(payload: dict[str, Any]) -> JobEntry: image_ref=str(payload["image_ref"]), side=str(payload.get("side", "a")), status=str(payload.get("status", "pending")), - assigned_to=payload.get("assigned_to"), + assigned_to=_optional_str(payload.get("assigned_to")), attempts=int(payload.get("attempts", 0)), failure=failure, - started_at=payload.get("started_at"), - ended_at=payload.get("ended_at"), + started_at=_optional_str(payload.get("started_at")), + ended_at=_optional_str(payload.get("ended_at")), ) diff --git a/tools/odin/templates/dispatch.yaml.j2 b/tools/odin/templates/dispatch.yaml.j2 index f113c810125c..ee4a03815be3 100644 --- a/tools/odin/templates/dispatch.yaml.j2 +++ b/tools/odin/templates/dispatch.yaml.j2 @@ -136,7 +136,10 @@ workflow: PYEOF set -e - find "$OUT" -type f | head -40 + # `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 diff --git a/tools/odin/tests/test_client.py b/tools/odin/tests/test_client.py index b017d93e02b1..3c83cd9e66a0 100644 --- a/tools/odin/tests/test_client.py +++ b/tools/odin/tests/test_client.py @@ -5,6 +5,7 @@ """Subprocess wrapping and error classification for the ``osmo`` CLI.""" +import json import subprocess from pathlib import Path @@ -77,20 +78,43 @@ def test_connection_reset_is_classified_as_transient(monkeypatch, tmp_path: Path _client(monkeypatch, fake).submit(tmp_path / "wf.yaml") -def test_status_parses_json(monkeypatch) -> None: - payload = '{"id": "wf-1", "status": "RUNNING", "tasks": [{"name": "t1", "status": "COMPLETED", "exit_code": 0}]}' - snapshot = _client(monkeypatch, _FakeRun(_cp(stdout=payload))).status("wf-1") +# 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 snapshot.tasks[0].name == "t1" - assert snapshot.tasks[0].exit_code == 0 + assert [(task.name, task.status, task.exit_code) for task in snapshot.tasks] == [ + ("t1", "COMPLETED", 0), + ("t2", "FAILED", 137), + ] -def test_status_falls_back_to_table_when_json_flag_is_unknown(monkeypatch) -> None: - table = "Status : COMPLETED\nTask Name Start Time Status\n====\nt1 May 11, 2026 16:46 CEST COMPLETED\n" - fake = _FakeRun(_cp(returncode=2, stderr="unknown flag: --output"), _cp(stdout=table)) - snapshot = _client(monkeypatch, fake).status("wf-1") - assert snapshot.status == "COMPLETED" - assert snapshot.tasks[0].name == "t1" +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: diff --git a/tools/odin/tests/test_poller.py b/tools/odin/tests/test_poller.py index af453bbd2563..a99100d41339 100644 --- a/tools/odin/tests/test_poller.py +++ b/tools/odin/tests/test_poller.py @@ -11,7 +11,7 @@ from tools.odin.client import TaskSnapshot, WorkflowSnapshot from tools.odin.poller import classify_terminal_state, is_terminal, poll_until_terminal, sync_once -from tools.odin.state import SCHEMA_VERSION, DispatchState, JobEntry +from tools.odin.state import SCHEMA_VERSION, DispatchState, FailureInfo, JobEntry class _FakeClient: @@ -121,6 +121,32 @@ def test_completed_task_fires_the_hook_once(tmp_path: Path) -> None: 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( diff --git a/tools/odin/tests/test_state.py b/tools/odin/tests/test_state.py index 1026a61f4a82..12d00e46b667 100644 --- a/tools/odin/tests/test_state.py +++ b/tools/odin/tests/test_state.py @@ -81,6 +81,20 @@ def test_optional_sizing_survives_the_round_trip(tmp_path: Path) -> 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 diff --git a/tools/odin/tests/test_workflow.py b/tools/odin/tests/test_workflow.py index 829c3e921150..14b36e966c9e 100644 --- a/tools/odin/tests/test_workflow.py +++ b/tools/odin/tests/test_workflow.py @@ -161,6 +161,13 @@ def test_entry_script_preserves_the_benchmark_exit_code() -> None: 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_exit_actions_come_from_retry_config() -> None: actions = _task(_render())["exitActions"] assert actions["RESCHEDULE"] == "3001-3006" From 44d4a0eb3ca9aa8be49566937818056194408c2a Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 20:26:55 +0200 Subject: [PATCH 30/33] Make retries, overlays, and polling match their contracts Eight places where the code did something narrower or broader than what it claims: - A retry collapsed failures to (identities, union-of-seeds) and let plan_rows re-expand the cross product, so a seed that passed was re-run. Failures are now grouped by the seed they occurred on. - A retry plans one row per identity and runs it against --image, so an A/B dispatch's side-B failures would silently be re-run on side A's image. Retrying an A/B dispatch is now refused outright. - apply_metadata keyed on three fields while harvest groups on five, so a camera row could inherit a headless row's timeout. Both now use the same key. - sync_once's query-failure handler had no ceiling, so bad credentials looped forever. poll_until_terminal now aborts after a bounded run of ticks in which every query failed, pointing at --resume. - _mode_resolves caught bare Exception, so an Isaac Lab import regression marked every mode illegal and the CLI blamed the operator's filters. Import and API failures now surface as DiscoveryError. - harvest swallowed an unreadable dispatch.json to {}, which empties side_b_rows and averages an A/B dispatch's two commits together -- precisely what excluding side B exists to prevent. - chunk_rows raised only after dispatch.json was written, stranding an orphan dispatch that LATEST resolves to. chunk_size is now validated at config load and before the dispatch directory is created. - The row sort key omitted renderer and presets, so a task's preset variants tied and their layout followed input order rather than being identical across reruns. --- tools/odin/cli.py | 71 ++++++++++++------ tools/odin/config_file.py | 6 +- tools/odin/discover.py | 23 +++++- tools/odin/harvest.py | 20 ++++- tools/odin/plan.py | 52 +++++++++---- tools/odin/poller.py | 44 ++++++++++- tools/odin/tests/test_cli.py | 108 ++++++++++++++++----------- tools/odin/tests/test_config_file.py | 8 ++ tools/odin/tests/test_discover.py | 11 +++ tools/odin/tests/test_harvest.py | 14 +++- tools/odin/tests/test_plan.py | 23 ++++++ tools/odin/tests/test_poller.py | 39 +++++++++- 12 files changed, 327 insertions(+), 92 deletions(-) diff --git a/tools/odin/cli.py b/tools/odin/cli.py index ac7f3925d21a..3b75bdc164d5 100644 --- a/tools/odin/cli.py +++ b/tools/odin/cli.py @@ -27,10 +27,10 @@ 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, harvest_dispatch, write_task_metadata +from tools.odin.harvest import DEFAULT_TIMEOUT_HEADROOM, HarvestError, harvest_dispatch, write_task_metadata from tools.odin.image import DEFAULT_CUDA_IMAGE, PROFILES, ImageBuildError, build_image from tools.odin.plan import PlanError, PlannedRow, apply_metadata, chunk_rows, load_task_rows, plan_rows -from tools.odin.poller import poll_until_terminal +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, @@ -142,6 +142,11 @@ def command_dispatch(args: argparse.Namespace) -> int: 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. @@ -152,19 +157,27 @@ def command_dispatch(args: argparse.Namespace) -> int: 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) - task_rows, seeds = _failed_rows_from(args.runs_root / parent_dispatch_id) - if not task_rows: + 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 - print(f"[odin] retrying {len(task_rows)} failed row(s) from {parent_dispatch_id}") + 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: 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 = {} @@ -174,8 +187,13 @@ def command_dispatch(args: argparse.Namespace) -> int: overrides["keep_checkpoint"] = True if args.video_length: overrides["video_length"] = args.video_length - task_rows = [dict(row, **overrides) for row in task_rows] - rows = plan_rows(task_rows=task_rows, seeds=seeds, include=args.include) + 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 @@ -224,31 +242,42 @@ def command_dispatch(args: argparse.Namespace) -> int: return _submit_and_poll(args=args, cfg=cfg, state=state, dispatch_dir=dispatch_dir, rendered=rendered) -def _failed_rows_from(dispatch_dir: Path) -> tuple[list[dict], list[int]]: - """Return task rows and seeds reconstructed from a dispatch's failed jobs. +def _failed_rows_from(dispatch_dir: Path) -> dict[int, list[dict]]: + """Return a dispatch's failed rows as task rows, grouped by seed. - Only one row per identity is emitted even when several seeds failed; the - seed axis is carried separately so :func:`plan_rows` re-expands it exactly - as the original dispatch did. + 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: - ``(task_rows, seeds)`` suitable for :func:`plan_rows`. + 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. + 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}") - failed = [job for job in state.jobs if job.status == "failed"] + # 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() - task_rows: list[dict] = [] - for job in failed: - identity = (job.task_id, job.rl_library, job.physics, job.renderer, job.presets) + 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) @@ -265,9 +294,9 @@ def _failed_rows_from(dispatch_dir: Path) -> tuple[list[dict], list[int]]: row["max_iterations"] = job.max_iterations if job.timeout_s is not None: row["timeout_s"] = job.timeout_s - task_rows.append(row) + grouped.setdefault(job.seed, []).append(row) - return task_rows, sorted({job.seed for job in failed}) + return grouped def _resume_dispatch(*, args: argparse.Namespace, cfg: OdinConfig) -> int: @@ -631,7 +660,7 @@ def main(argv: list[str] | None = None) -> int: return 2 try: return _COMMANDS[args.command](args) - except (OdinConfigError, PlanError, ImageBuildError, DiscoveryError) as exc: + except (OdinConfigError, PlanError, ImageBuildError, DiscoveryError, HarvestError, PollError) as exc: print(f"[odin] {exc}", file=sys.stderr) return 1 diff --git a/tools/odin/config_file.py b/tools/odin/config_file.py index fe3fec2e2863..73b01983ca31 100644 --- a/tools/odin/config_file.py +++ b/tools/odin/config_file.py @@ -179,6 +179,10 @@ def load_odin_config(path: Path) -> OdinConfig: 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", ""), @@ -197,7 +201,7 @@ def load_odin_config(path: Path) -> OdinConfig: ), exec_timeout_s=_require_int(raw, "exec_timeout_s", ""), queue_timeout_s=_require_int(raw, "queue_timeout_s", ""), - chunk_size=_require_int(raw, "chunk_size", ""), + chunk_size=chunk_size, results_uri=_require_str(raw, "results_uri", ""), retry=RetrySpec( reschedule_codes=str(retry_raw.get("reschedule_codes") or ""), diff --git a/tools/odin/discover.py b/tools/odin/discover.py index 47ae79754736..20c3eba6c50d 100644 --- a/tools/odin/discover.py +++ b/tools/odin/discover.py @@ -310,12 +310,22 @@ def _legal_modes( 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. - Any failure — an unknown preset, an unloadable config, or a rejected backend - combination — makes the pairing undispatchable, so all of them are treated - the same. + 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 @@ -342,7 +352,12 @@ def _mode_resolves(task_id: str, physics: str | None, renderer: str | None, pres env_cfg, _ = resolve_task_config(args.task, args.agent) _validate_runtime(scan(env_cfg, args), args) return True - except Exception: # noqa: BLE001 - any failure means undispatchable + 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 diff --git a/tools/odin/harvest.py b/tools/odin/harvest.py index 26e3ba5487e0..582de45ef019 100644 --- a/tools/odin/harvest.py +++ b/tools/odin/harvest.py @@ -28,12 +28,18 @@ __all__ = [ "DEFAULT_TIMEOUT_HEADROOM", + "HarvestError", "TaskMetadata", "harvest_dispatch", "read_bundle", "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. @@ -128,20 +134,26 @@ def harvest_dispatch(dispatch_dir: Path, *, timeout_headroom: float = DEFAULT_TI One entry per ``(task_id, rl_library, physics)``, sorted by that key. Raises: - ValueError: If *timeout_headroom* is not greater than zero. + 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 ValueError(f"timeout_headroom must be > 0, got {timeout_headroom}") + 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): - payload = {} + 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") } diff --git a/tools/odin/plan.py b/tools/odin/plan.py index bed36d0c758a..3b2c1fdcc946 100644 --- a/tools/odin/plan.py +++ b/tools/odin/plan.py @@ -210,13 +210,30 @@ def load_task_rows(path: Path) -> list[dict[str, Any]]: 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)``. 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. + 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`. @@ -226,10 +243,10 @@ def apply_metadata(task_rows: list[dict[str, Any]], metadata_rows: list[dict[str Returns: New seed entries with sizing filled in where it was missing. """ - by_key = {(entry.get("task_id"), entry.get("rl_library"), entry.get("physics")): entry for entry in metadata_rows} + 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((entry.get("task_id"), entry.get("rl_library"), entry.get("physics"))) + overlay = by_key.get(_overlay_key(entry)) combined = dict(entry) if overlay is not None: for field_name in _OVERLAY_FIELDS: @@ -239,13 +256,22 @@ def apply_metadata(task_rows: list[dict[str, Any]], metadata_rows: list[dict[str return merged -def _sort_key(row: PlannedRow) -> tuple[int, str, str, int]: +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. + 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.seed) + 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( @@ -262,8 +288,8 @@ def plan_rows( include: Optional glob filter applied to ``task_id``. Returns: - Rows sorted by ``(timeout_s, task_id, physics, seed)`` so reruns and - resumes observe an identical layout. + 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 @@ -337,10 +363,10 @@ def chunk_rows(rows: list[PlannedRow], chunk_size: int) -> list[tuple[int, list[ ``(chunk_index, chunk_rows)`` pairs with ascending *chunk_index*. Raises: - ValueError: If *chunk_size* is less than one. + PlanError: If *chunk_size* is less than one. """ if chunk_size < 1: - raise ValueError(f"chunk_size must be >= 1, got {chunk_size}") + raise PlanError(f"chunk_size must be >= 1, got {chunk_size}") if not rows: return [] ordered = sorted(rows, key=_sort_key) diff --git a/tools/odin/poller.py b/tools/odin/poller.py index dbfb968c8c86..80d9a4d17984 100644 --- a/tools/odin/poller.py +++ b/tools/odin/poller.py @@ -20,14 +20,26 @@ 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] = { @@ -105,7 +117,7 @@ def sync_once( dispatch_dir: Path, on_task_completed: Callable[[JobEntry], None], completed_seen: set[str] | None = None, -) -> None: +) -> int: """Run one reconciliation pass over every workflow and rewrite state. Idempotent: repeated calls with no remote change are a no-op. @@ -119,6 +131,9 @@ def sync_once( 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. """ @@ -128,14 +143,15 @@ def sync_once( 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. A persistent auth failure keeps surfacing here, which is the - # operator's signal to fix credentials. + # 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 @@ -171,6 +187,7 @@ def sync_once( job.transition_to("pending") write_dispatch_state(dispatch_dir, state) + return query_failures def poll_until_terminal( @@ -180,6 +197,7 @@ def poll_until_terminal( 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. @@ -189,16 +207,34 @@ def poll_until_terminal( 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): - sync_once( + 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: diff --git a/tools/odin/tests/test_cli.py b/tools/odin/tests/test_cli.py index f053e8fbbc82..621b1f194ecd 100644 --- a/tools/odin/tests/test_cli.py +++ b/tools/odin/tests/test_cli.py @@ -402,20 +402,7 @@ def test_retry_failed_plans_only_the_failed_rows(workspace: Path) -> None: if job["status"] == "failed" } - code = main( - [ - "dispatch", - "--config", - str(workspace / "odin.yaml"), - "--image", - "img@sha256:abc", - "--runs_root", - str(workspace / "runs"), - "--retry_failed", - parent, - "--dry_run", - ] - ) + code = main(_retry_argv(workspace, parent)) assert code == 0 child = sorted((workspace / "runs").iterdir())[-1] @@ -428,42 +415,79 @@ 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( - [ - "dispatch", - "--config", - str(workspace / "odin.yaml"), - "--image", - "img@sha256:abc", - "--runs_root", - str(workspace / "runs"), - "--retry_failed", - parent, - "--dry_run", - ] - ) + 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( - [ - "dispatch", - "--config", - str(workspace / "odin.yaml"), - "--image", - "img", - "--runs_root", - str(workspace / "runs"), - "--retry_failed", - parent, - "--dry_run", - ] - ) + code = main(_retry_argv(workspace, parent)) assert code == 1 assert "no failed rows" in capsys.readouterr().err diff --git a/tools/odin/tests/test_config_file.py b/tools/odin/tests/test_config_file.py index 0df4e011f727..4d30d457f294 100644 --- a/tools/odin/tests/test_config_file.py +++ b/tools/odin/tests/test_config_file.py @@ -89,6 +89,14 @@ def test_bool_is_not_accepted_as_integer(tmp_path: Path) -> None: 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")) diff --git a/tools/odin/tests/test_discover.py b/tools/odin/tests/test_discover.py index bbedd12a03d9..658084f1948a 100644 --- a/tools/odin/tests/test_discover.py +++ b/tools/odin/tests/test_discover.py @@ -13,6 +13,7 @@ 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 @@ -140,6 +141,16 @@ def test_written_list_is_consumable_by_the_planner(tmp_path: Path) -> None: 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}) diff --git a/tools/odin/tests/test_harvest.py b/tools/odin/tests/test_harvest.py index edcae35ee802..95d27fbdf1e8 100644 --- a/tools/odin/tests/test_harvest.py +++ b/tools/odin/tests/test_harvest.py @@ -11,7 +11,7 @@ import pytest import yaml -from tools.odin.harvest import harvest_dispatch, read_bundle, write_task_metadata +from tools.odin.harvest import HarvestError, harvest_dispatch, read_bundle, write_task_metadata def _write_bundle( @@ -142,10 +142,20 @@ def test_empty_dispatch_yields_nothing(tmp_path: Path) -> None: def test_non_positive_headroom_is_rejected(tmp_path: Path) -> None: - with pytest.raises(ValueError, match="timeout_headroom"): + 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" diff --git a/tools/odin/tests/test_plan.py b/tools/odin/tests/test_plan.py index dbac07a19d21..3351b64448b7 100644 --- a/tools/odin/tests/test_plan.py +++ b/tools/odin/tests/test_plan.py @@ -172,6 +172,29 @@ def test_metadata_matches_on_physics_too() -> None: 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: # 35 of the 87 usable tasks declare no physics preset and hard-fail on any # physics= token, so physics must be optional. diff --git a/tools/odin/tests/test_poller.py b/tools/odin/tests/test_poller.py index a99100d41339..a5c26a40bb5e 100644 --- a/tools/odin/tests/test_poller.py +++ b/tools/odin/tests/test_poller.py @@ -10,7 +10,7 @@ import pytest from tools.odin.client import TaskSnapshot, WorkflowSnapshot -from tools.odin.poller import classify_terminal_state, is_terminal, poll_until_terminal, sync_once +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 @@ -224,6 +224,43 @@ def test_poll_until_terminal_returns_when_all_jobs_finish(tmp_path: Path) -> Non 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") From 6a1cee7321f7f7fd33b8074db893afdb1947234b Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 20:36:50 +0200 Subject: [PATCH 31/33] Pin rendered artefacts with goldens and drop dead code The workflow YAML and the Dockerfile were each asserted by a few dozen substring checks, which pass while saying nothing about the rest of the artefact. They are now compared whole against committed goldens under tools/odin/tests/golden/, regenerable with ODIN_UPDATE_GOLDEN=1. The invariants a golden diff would show but not explain -- one group per task, the credential-to-host mapping, the exit-code verdict, the venv interpreter -- stay as named tests. Also removed machinery that only ever had one value or no caller: - plan.PROFILE_EXTRAS and image.PROFILES held the same 8-tuple verbatim in two modules, each with a single "full" key. They collapse to one plan.UV_EXTRAS that image.py imports, taking with them uv_extras_for_profile, PlannedRow.profile, --profile, and the Dockerfile's per-profile loop. Tags lose their "-full" suffix. A test now asserts the image and the rows agree on the extras, which nothing checked before. - OsmoClient.logs/_stream_logs/cancel had no callers and no tests; data_check's access argument was only ever "WRITE". - JobEntry.attempts was written and never read. - discover_tasks' validate_modes was never passed. - state's major-version comparison had only ever seen one version. - read_bundle and validate_bundle were the same glob-parse-check written twice; harvest now imports results.read_bundle. Golden files are byte-exact renderer output, so pre-commit's whitespace and license hooks skip that directory. --- .pre-commit-config.yaml | 7 +- .../test/benchmark/test_play_video.py | 40 +--- tools/odin/cli.py | 13 +- tools/odin/client.py | 57 +----- tools/odin/discover.py | 13 +- tools/odin/harvest.py | 27 +-- tools/odin/image.py | 44 +---- tools/odin/plan.py | 49 ++--- tools/odin/poller.py | 16 +- tools/odin/results.py | 38 ++-- tools/odin/state.py | 19 +- tools/odin/templates/Dockerfile.j2 | 5 +- tools/odin/tests/conftest.py | 27 +++ tools/odin/tests/golden/Dockerfile | 46 +++++ tools/odin/tests/golden/workflow_default.yaml | 130 ++++++++++++ .../golden/workflow_play_keep_checkpoint.yaml | 159 +++++++++++++++ .../workflow_sized_renderer_presets.yaml | 130 ++++++++++++ tools/odin/tests/test_chunking.py | 10 +- tools/odin/tests/test_cli.py | 2 - tools/odin/tests/test_client.py | 6 - tools/odin/tests/test_harvest.py | 14 +- tools/odin/tests/test_image.py | 105 +++------- tools/odin/tests/test_layout.py | 8 +- tools/odin/tests/test_plan.py | 64 ++---- tools/odin/tests/test_poller.py | 8 - tools/odin/tests/test_results.py | 19 +- tools/odin/tests/test_state.py | 4 +- tools/odin/tests/test_workflow.py | 187 +++--------------- 28 files changed, 664 insertions(+), 583 deletions(-) create mode 100644 tools/odin/tests/golden/Dockerfile create mode 100644 tools/odin/tests/golden/workflow_default.yaml create mode 100644 tools/odin/tests/golden/workflow_play_keep_checkpoint.yaml create mode 100644 tools/odin/tests/golden/workflow_sized_renderer_presets.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/source/isaaclab/test/benchmark/test_play_video.py b/source/isaaclab/test/benchmark/test_play_video.py index 741b2495aedb..61fd96f9bd6a 100644 --- a/source/isaaclab/test/benchmark/test_play_video.py +++ b/source/isaaclab/test/benchmark/test_play_video.py @@ -13,7 +13,6 @@ from __future__ import annotations import argparse -import importlib.util from pathlib import Path import pytest @@ -62,39 +61,16 @@ def test_video_dir_tolerates_a_namespace_without_the_flag() -> None: @pytest.mark.parametrize("backend", _BACKENDS) -def test_adapter_declares_video_arguments(backend: str) -> None: - assert "add_video_args(parser, include_interval=False)" in _adapter_source(backend) - - -@pytest.mark.parametrize("backend", _BACKENDS) -def test_adapter_enables_cameras_for_video(backend: str) -> None: - # Without this the env renders nothing and the recording is blank. - assert "enable_cameras_for_video" in _adapter_source(backend) - - -@pytest.mark.parametrize("backend", _BACKENDS) -def test_adapter_requests_rgb_array_render_mode(backend: str) -> None: +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 _adapter_source(backend) - - -@pytest.mark.parametrize("backend", _BACKENDS) -def test_adapter_wraps_the_env_for_recording(backend: str) -> None: - assert "wrap_record_video_play" in _adapter_source(backend) - - -@pytest.mark.parametrize("backend", _BACKENDS) -def test_adapter_records_the_video_path_on_the_bundle(backend: str) -> 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 _adapter_source(backend) - - -@pytest.mark.parametrize("backend", _BACKENDS) -def test_adapter_module_is_importable_source(backend: str) -> None: - spec = importlib.util.spec_from_file_location( - f"_probe_{backend}", _ADAPTER_ROOT / backend / f"benchmark_play_{backend}.py" - ) - assert spec is not None + assert "video_path=_common.play_video_dir(" in source @pytest.mark.parametrize("backend", ("rsl_rl", "rl_games", "skrl")) diff --git a/tools/odin/cli.py b/tools/odin/cli.py index 3b75bdc164d5..a964e431df3a 100644 --- a/tools/odin/cli.py +++ b/tools/odin/cli.py @@ -28,7 +28,7 @@ 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, PROFILES, ImageBuildError, build_image +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 @@ -100,12 +100,10 @@ def _job_from_row(row: PlannedRow, *, side: str, image_ref: str) -> JobEntry: def command_build_image(args: argparse.Namespace) -> int: """Build, and optionally push, a commit-pinned benchmark image.""" cfg = load_odin_config(args.config) - profiles = args.profile or ["full"] tag = build_image( spec=cfg.image, ref=args.ref, repo_root=_REPO_ROOT, - profiles=profiles, context_dir=args.context_dir, cuda_image=args.cuda_image, push=args.push, @@ -357,7 +355,7 @@ def _submit_and_poll( # 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, access="WRITE"): + 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.", @@ -532,13 +530,6 @@ def _build_parser() -> argparse.ArgumentParser: 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( - "--profile", - action="append", - choices=sorted(PROFILES), - default=None, - help="uv extras profile to warm; repeatable. Defaults to 'full'.", - ) 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") diff --git a/tools/odin/client.py b/tools/odin/client.py index 5047a4c8df5d..cd8aee318df0 100644 --- a/tools/odin/client.py +++ b/tools/odin/client.py @@ -19,7 +19,6 @@ import os import re import subprocess -from collections.abc import Iterator from dataclasses import dataclass from pathlib import Path @@ -196,8 +195,8 @@ def validate(self, yaml_path: Path) -> None: 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, *, access: str = "WRITE") -> bool: - """Return whether the profile has *access* to *remote_uri*. + 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 @@ -206,7 +205,6 @@ def data_check(self, remote_uri: str, *, access: str = "WRITE") -> bool: Args: remote_uri: Backend URI, e.g. ``swift://host/AUTH_x/prefix``. - access: Access mode to probe, e.g. ``WRITE`` or ``READ``. Returns: ``True`` when the check reports a pass. @@ -214,7 +212,7 @@ def data_check(self, remote_uri: str, *, access: str = "WRITE") -> bool: Raises: OsmoAuthError, OsmoTransientError, OsmoCliError: per :func:`_classify`. """ - cp = self._run([self._exe, "data", "check", remote_uri, "-a", access]) + 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 @@ -236,52 +234,3 @@ def data_download(self, remote_uri: str, dest_dir: Path) -> None: 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()}") - - def cancel(self, workflow_id: str) -> None: - """Cancel an in-flight workflow. - - Args: - workflow_id: The OSMO workflow ID. - - Raises: - OsmoAuthError, OsmoTransientError, OsmoCliError: per :func:`_classify`. - """ - cp = self._run([self._exe, "workflow", "cancel", workflow_id]) - if cp.returncode != 0: - raise _classify(cp.stderr)(f"`osmo workflow cancel` failed: {cp.stderr.strip()}") - - def logs(self, workflow_id: str, task_name: str, *, follow: bool = False) -> Iterator[bytes]: - """Yield log bytes from the named task. - - With ``follow=False``, runs the command to completion and yields - the captured stdout as a single bytes chunk. With ``follow=True``, - streams stdout line-by-line until the subprocess exits. - - Args: - workflow_id: The OSMO workflow ID. - task_name: The task name (must match an OSMO task name in the workflow). - follow: If True, follow the live stream (like ``tail -f``). - - Yields: - Bytes chunks of stdout. - - Raises: - OsmoAuthError, OsmoTransientError, OsmoCliError: on non-zero exit (non-follow path only). - """ - cmd = [self._exe, "workflow", "logs", workflow_id, task_name] - if follow: - cmd.append("--follow") - return self._stream_logs(cmd) - cp = self._run(cmd) - if cp.returncode != 0: - raise _classify(cp.stderr)(f"`osmo workflow logs` failed: {cp.stderr.strip()}") - return iter([cp.stdout.encode()]) - - def _stream_logs(self, cmd: list[str]) -> Iterator[bytes]: - proc = subprocess.Popen(cmd, env=self._env(), stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=False) - assert proc.stdout is not None - try: - yield from iter(proc.stdout.readline, b"") - finally: - proc.stdout.close() - proc.wait() diff --git a/tools/odin/discover.py b/tools/odin/discover.py index 20c3eba6c50d..9cef9998afb0 100644 --- a/tools/odin/discover.py +++ b/tools/odin/discover.py @@ -214,7 +214,7 @@ def filter_rows( return result -def discover_tasks(*, validate_modes: bool = True) -> list[DiscoveredTask]: +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 @@ -227,11 +227,6 @@ def discover_tasks(*, validate_modes: bool = True) -> list[DiscoveredTask]: rejected. Discovering that here costs one config resolution per pairing; discovering it on a GPU costs a whole dispatch. - Args: - validate_modes: Check renderer pairings against the runtime validator. - Disabling it emits the full cross product, which is faster but will - include combinations that fail at startup. - Returns: Discovered tasks sorted by ``task_id``. @@ -268,7 +263,7 @@ def discover_tasks(*, validate_modes: bool = True) -> list[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, validate=validate_modes), + modes=_legal_modes(spec.id, physics, renderers, domains), ) ) tasks.sort(key=lambda task: task.task_id) @@ -285,8 +280,6 @@ def _legal_modes( physics: tuple[str, ...], renderers: tuple[str, ...], domains: tuple[str, ...], - *, - validate: bool, ) -> tuple[DiscoveredTask.Mode, ...]: """Return the legal physics/renderer/preset combinations for one task. @@ -304,7 +297,7 @@ def _legal_modes( for physics_name in physics_options: for renderer in renderer_options: for domain in domain_options: - if validate and not _mode_resolves(task_id, physics_name, renderer, domain): + 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) diff --git a/tools/odin/harvest.py b/tools/odin/harvest.py index 582de45ef019..70a146970744 100644 --- a/tools/odin/harvest.py +++ b/tools/odin/harvest.py @@ -26,12 +26,13 @@ import yaml +from tools.odin.results import read_bundle + __all__ = [ "DEFAULT_TIMEOUT_HEADROOM", "HarvestError", "TaskMetadata", "harvest_dispatch", - "read_bundle", "write_task_metadata", ] @@ -45,8 +46,6 @@ class HarvestError(ValueError): # costs a whole rerun, whereas an over-budgeted one merely finishes early. DEFAULT_TIMEOUT_HEADROOM = 2.0 -_BUNDLE_GLOB = "benchmark_*.json" - @dataclass(frozen=True) class TaskMetadata: @@ -82,28 +81,6 @@ class TaskMetadata: seeds: list[int] -def read_bundle(row_dir: Path) -> dict[str, Any] | None: - """Return the parsed schema bundle in *row_dir*, or ``None``. - - Args: - row_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 row_dir.is_dir(): - return None - for candidate in sorted(row_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 _duration_of(bundle: dict[str, Any]) -> float: """Return a run's wall-clock duration [s], preferring the runtime total.""" runtime = bundle.get("runtime") or {} diff --git a/tools/odin/image.py b/tools/odin/image.py index 3d7b95a1809e..8301375a8780 100644 --- a/tools/odin/image.py +++ b/tools/odin/image.py @@ -19,11 +19,11 @@ 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", - "PROFILES", "ImageBuildError", "build_image", "image_tag_for", @@ -31,21 +31,6 @@ "resolve_ref", ] -# uv extras per profile. ``full`` is everything that co-resolves in one -# virtualenv, so a task never reasons about which extras a workload needs and a -# row never has to be routed to the right image. -# -# This became possible once the packaging cap was widened: ovphysx capped -# packaging at <24 while isaacsim-core pinned ==26.0, which made the two extras -# unresolvable together. The ``packaging>=20,<27`` override in the root -# pyproject collapses them onto 26.0. -# -# Still excluded, because they genuinely cannot co-resolve with isaacsim: -# teleop, viser, mimic, test, and the ``all`` aggregate. -PROFILES: dict[str, tuple[str, ...]] = { - "full": ("isaacsim", "ovphysx", "ovrtx", "rsl-rl", "skrl", "rl-games", "sb3", "rerun"), -} - # 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" @@ -91,37 +76,29 @@ def resolve_ref(ref: str, *, repo_root: Path, run: _Runner = subprocess.run) -> return completed.stdout.strip() -def image_tag_for(spec: ImageSpec, commit_sha: str, profiles: list[str]) -> str: +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. - profiles: Profiles baked into the image, in order. Returns: - ``/:-[-...]``. + ``/:``. """ - return f"{spec.registry}/{spec.repository}:{commit_sha[:7]}-{'-'.join(profiles)}" + return f"{spec.registry}/{spec.repository}:{commit_sha[:7]}" -def render_dockerfile(*, commit_sha: str, cuda_image: str, profiles: list[str]) -> str: +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. - profiles: Profile names to warm, each a key of :data:`PROFILES`. Returns: The rendered Dockerfile. - - Raises: - ImageBuildError: If a profile is not a known profile name. """ - unknown = [profile for profile in profiles if profile not in PROFILES] - if unknown: - raise ImageBuildError(f"unknown profile(s) {unknown}; expected some of {sorted(PROFILES)}") environment = Environment( loader=FileSystemLoader(str(_TEMPLATES_DIR)), undefined=StrictUndefined, @@ -130,8 +107,7 @@ def render_dockerfile(*, commit_sha: str, cuda_image: str, profiles: list[str]) return environment.get_template("Dockerfile.j2").render( commit_sha=commit_sha, cuda_image=cuda_image, - profiles=profiles, - profile_extras=PROFILES, + uv_extras=UV_EXTRAS, bundle_ref=BUNDLE_REF, ) @@ -141,7 +117,6 @@ def build_image( spec: ImageSpec, ref: str, repo_root: Path, - profiles: list[str], context_dir: Path, cuda_image: str = DEFAULT_CUDA_IMAGE, push: bool = False, @@ -154,7 +129,6 @@ def build_image( spec: Registry coordinates. ref: Git ref to pin. repo_root: Repository the bundle is created from. - profiles: Profile names to warm. context_dir: Directory the build context is written to. cuda_image: Base image reference. push: Whether to ``docker push`` after a successful build. @@ -170,12 +144,10 @@ def build_image( pushing fails. """ commit_sha = resolve_ref(ref, repo_root=repo_root, run=run) - tag = image_tag_for(spec, commit_sha, profiles) + 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, profiles=profiles) - ) + (context_dir / "Dockerfile").write_text(render_dockerfile(commit_sha=commit_sha, cuda_image=cuda_image)) if dry_run: return tag diff --git a/tools/odin/plan.py b/tools/odin/plan.py index 3b2c1fdcc946..397fb3e06aeb 100644 --- a/tools/odin/plan.py +++ b/tools/odin/plan.py @@ -27,6 +27,7 @@ from tools.odin.workflow import osmo_safe_task_name __all__ = [ + "UV_EXTRAS", "PlanError", "PlannedRow", "apply_metadata", @@ -35,32 +36,28 @@ "chunk_rows", "load_task_rows", "plan_rows", - "uv_extras_for_profile", ] # Sizing fields a harvested metadata entry may contribute to a seed entry. _OVERLAY_FIELDS = ("num_envs", "max_iterations", "timeout_s") -# Extras per profile. Mirrors image.PROFILES; kept here rather than imported to -# keep plan.py free of the image-build layer. +# 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. # -# A single ``full`` profile holds every backend, so a row's physics preset no -# longer has to be resolved to a Kit/kitless runtime before it can be dispatched -# -- which matters because a preset token does not determine the backend: -# `physics=physx` resolves to OvPhysX on 39 tasks and to Kit PhysX on 5. -PROFILE_EXTRAS: dict[str, tuple[str, ...]] = { - "full": ("isaacsim", "ovphysx", "ovrtx", "rsl-rl", "skrl", "rl-games", "sb3", "rerun"), -} - -DEFAULT_PROFILE = "full" +# 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: 35 of the 87 usable tasks declare no -# physics preset at all and hard-fail on any ``physics=`` token. +# ``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") @@ -95,7 +92,6 @@ class PlannedRow: 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. - profile: uv profile the row runs under; ``full`` holds every backend. osmo_task_name: DNS-1123-safe OSMO task name derived from *row_key*. """ @@ -113,7 +109,6 @@ class PlannedRow: max_iterations: int | None timeout_s: int | None uv_extras: tuple[str, ...] - profile: str osmo_task_name: str @@ -168,23 +163,6 @@ def build_row_key( return f"{rl_library}_{physics or 'default'}_{optional}{task_id}_seed{seed}" -def uv_extras_for_profile(profile: str) -> tuple[str, ...]: - """Return the full extras set for a uv profile. - - Args: - profile: Profile name; ``full`` holds every backend. - - Returns: - Every extra baked into that profile's virtualenv. - - Raises: - PlanError: If *profile* is not a known profile. - """ - if profile not in PROFILE_EXTRAS: - raise PlanError(f"unknown profile {profile!r}; expected one of {sorted(PROFILE_EXTRAS)}") - return PROFILE_EXTRAS[profile] - - def load_task_rows(path: Path) -> list[dict[str, Any]]: """Load the seed task list. @@ -316,8 +294,6 @@ def plan_rows( play = bool(entry.get("play", False)) keep_checkpoint = bool(entry.get("keep_checkpoint", False)) video_length = int(entry.get("video_length", DEFAULT_VIDEO_LENGTH)) - profile = str(entry.get("profile") or DEFAULT_PROFILE) - extras = uv_extras_for_profile(profile) for seed in seeds: row_key = build_row_key(rl_library, physics, task_id, seed, renderer, presets) @@ -339,8 +315,7 @@ def plan_rows( 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=extras, - profile=profile, + uv_extras=UV_EXTRAS, osmo_task_name=osmo_safe_task_name(row_key), ) ) diff --git a/tools/odin/poller.py b/tools/odin/poller.py index 80d9a4d17984..0103fb5a6361 100644 --- a/tools/odin/poller.py +++ b/tools/odin/poller.py @@ -89,13 +89,14 @@ def classify_terminal_state(osmo_state: str) -> str | None: non-terminal states. Unrecognised ``FAILED*`` states fall back to ``infrastructure``. """ - if osmo_state == "COMPLETED": + if osmo_state == "COMPLETED" or not is_terminal(osmo_state): return None - if osmo_state in OSMO_STATE_TO_FAILURE_KIND: - return OSMO_STATE_TO_FAILURE_KIND[osmo_state] - if osmo_state.startswith("FAILED"): - return "infrastructure" - 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: @@ -106,7 +107,6 @@ def _osmo_status_to_job_status(osmo_state: str) -> str: return "running" if is_terminal(osmo_state): return "failed" - # SUBMITTING, WAITING, PROCESSING, SCHEDULING, INITIALIZING, RESCHEDULED. return "pending" @@ -178,7 +178,7 @@ def sync_once( job.transition_to( "failed", failure=FailureInfo( - kind=classify_terminal_state(task.status) or "infrastructure", + 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}, ), diff --git a/tools/odin/results.py b/tools/odin/results.py index 26b73c8a36a5..81c9de3bff5f 100644 --- a/tools/odin/results.py +++ b/tools/odin/results.py @@ -23,9 +23,9 @@ import json from pathlib import Path -from typing import Protocol +from typing import Any, Protocol -__all__ = ["dispatch_output_uri", "fetch_results", "results_uri_for", "validate_bundle"] +__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__". @@ -67,29 +67,41 @@ def dispatch_output_uri(base_uri: str, dispatch_id: str) -> str: return f"{base_uri.rstrip('/')}/{dispatch_id}/" -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. +def read_bundle(bundle_dir: Path) -> dict[str, Any] | None: + """Return the parsed schema bundle in *bundle_dir*, or ``None``. Args: - bundle_dir: Directory the row's results were fetched into. + bundle_dir: Directory holding one row's results. Returns: - Whether some bundle file exists, parses as JSON, and declares a - ``schema_version``. + The first readable bundle mapping that declares a ``schema_version``, or + ``None`` when the directory holds none. """ if not bundle_dir.is_dir(): - return False + 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 True - return False + 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( diff --git a/tools/odin/state.py b/tools/odin/state.py index 02379bba7da9..dbb2a2332565 100644 --- a/tools/odin/state.py +++ b/tools/odin/state.py @@ -96,7 +96,6 @@ class JobEntry: side: str = "a" status: str = "pending" assigned_to: str | None = None - attempts: int = 0 failure: FailureInfo | None = None started_at: str | None = None ended_at: str | None = None @@ -121,7 +120,7 @@ def transition_to( """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 or inflate the attempt count. + do not reset timestamps. Args: status: Target status. @@ -143,7 +142,6 @@ def transition_to( 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() - self.attempts += 1 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})") @@ -206,7 +204,6 @@ def _job_to_dict(job: JobEntry) -> dict[str, Any]: "side": job.side, "status": job.status, "assigned_to": job.assigned_to, - "attempts": job.attempts, "started_at": job.started_at, "ended_at": job.ended_at, "failure": failure, @@ -245,20 +242,12 @@ def _job_from_dict(payload: dict[str, Any]) -> JobEntry: side=str(payload.get("side", "a")), status=str(payload.get("status", "pending")), assigned_to=_optional_str(payload.get("assigned_to")), - attempts=int(payload.get("attempts", 0)), failure=failure, started_at=_optional_str(payload.get("started_at")), ended_at=_optional_str(payload.get("ended_at")), ) -def _schema_version_compatible(got: str) -> bool: - """Return ``True`` iff *got* shares a major version with :data:`SCHEMA_VERSION`.""" - if not got: - return False - return got.split(".", 1)[0] == SCHEMA_VERSION.split(".", 1)[0] - - def read_dispatch_state(dispatch_dir: Path) -> DispatchState | None: """Read ``/dispatch.json``. @@ -269,15 +258,15 @@ def read_dispatch_state(dispatch_dir: Path) -> DispatchState | None: The parsed state, or ``None`` when the file does not exist. Raises: - ValueError: If the file declares an incompatible major schema version. + 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 not _schema_version_compatible(got): - raise ValueError(f"unsupported dispatch.json schema_version {got!r} (expected major {SCHEMA_VERSION!r})") + 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"]), diff --git a/tools/odin/templates/Dockerfile.j2 b/tools/odin/templates/Dockerfile.j2 index 12d87dadc242..38779e2cd526 100644 --- a/tools/odin/templates/Dockerfile.j2 +++ b/tools/odin/templates/Dockerfile.j2 @@ -41,7 +41,6 @@ RUN test "$(git rev-parse HEAD)" = "{{ commit_sha }}" # 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 -{% for profile in profiles %} + RUN --mount=type=cache,target=/opt/uv-cache,sharing=locked \ - uv sync --frozen {% for extra in profile_extras[profile] %}--extra {{ extra }} {% endfor %} -{% endfor %} + uv sync --frozen --extra {{ uv_extras | join(" --extra ") }} diff --git a/tools/odin/tests/conftest.py b/tools/odin/tests/conftest.py index 5e1bcaabe235..22b3ecf77d44 100644 --- a/tools/odin/tests/conftest.py +++ b/tools/odin/tests/conftest.py @@ -10,9 +10,36 @@ 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 index e0fc86e8ecd0..6a74cce11b77 100644 --- a/tools/odin/tests/test_chunking.py +++ b/tools/odin/tests/test_chunking.py @@ -26,7 +26,6 @@ def _row(key: str, timeout_s: int | None) -> PlannedRow: max_iterations=None, timeout_s=timeout_s, uv_extras=("rsl-rl", "isaacsim"), - profile="isaacsim", osmo_task_name=key.lower(), ) @@ -35,14 +34,9 @@ def test_empty_input_yields_no_chunks() -> None: assert chunk_rows([], 25) == [] -def test_rows_are_split_at_chunk_size() -> None: +def test_rows_are_split_at_chunk_size_with_ascending_indices() -> None: rows = [_row(f"t{i}", 100) for i in range(5)] - assert [len(chunk) for _, chunk in chunk_rows(rows, 2)] == [2, 2, 1] - - -def test_chunk_indices_ascend_from_zero() -> None: - rows = [_row(f"t{i}", 100) for i in range(5)] - assert [index for index, _ in chunk_rows(rows, 2)] == [0, 1, 2] + 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: diff --git a/tools/odin/tests/test_cli.py b/tools/odin/tests/test_cli.py index 621b1f194ecd..8f6f38f5a7d0 100644 --- a/tools/odin/tests/test_cli.py +++ b/tools/odin/tests/test_cli.py @@ -164,8 +164,6 @@ def test_build_image_dry_run_writes_a_dockerfile(workspace: Path, tmp_path: Path str(workspace / "odin.yaml"), "--ref", "HEAD", - "--profile", - "full", "--context_dir", str(tmp_path / "ctx"), "--dry_run", diff --git a/tools/odin/tests/test_client.py b/tools/odin/tests/test_client.py index 3c83cd9e66a0..5052da081304 100644 --- a/tools/odin/tests/test_client.py +++ b/tools/odin/tests/test_client.py @@ -131,12 +131,6 @@ def test_failed_data_download_raises(monkeypatch, tmp_path: Path) -> None: _client(monkeypatch, fake).data_download("s3://bucket/missing", tmp_path / "dest") -def test_dataset_helpers_are_gone() -> None: - # OSMO datasets were retired; leaving these around would invite their use. - assert not hasattr(OsmoClient, "dataset_download") - assert not hasattr(OsmoClient, "dataset_delete") - - 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") diff --git a/tools/odin/tests/test_harvest.py b/tools/odin/tests/test_harvest.py index 95d27fbdf1e8..7b54ce73a35f 100644 --- a/tools/odin/tests/test_harvest.py +++ b/tools/odin/tests/test_harvest.py @@ -11,7 +11,7 @@ import pytest import yaml -from tools.odin.harvest import HarvestError, harvest_dispatch, read_bundle, write_task_metadata +from tools.odin.harvest import HarvestError, harvest_dispatch, write_task_metadata def _write_bundle( @@ -51,18 +51,6 @@ def _write_bundle( return row_dir -def test_read_bundle_returns_none_for_an_empty_dir(tmp_path: Path) -> None: - (tmp_path / "row").mkdir() - assert read_bundle(tmp_path / "row") is None - - -def test_read_bundle_parses_a_written_bundle(tmp_path: Path) -> None: - _write_bundle(tmp_path, "row") - bundle = read_bundle(tmp_path / "row") - assert bundle is not None - assert bundle["run"]["task"] == "Isaac-Ant" - - 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) diff --git a/tools/odin/tests/test_image.py b/tools/odin/tests/test_image.py index 36e599163109..b2ddf629f1ae 100644 --- a/tools/odin/tests/test_image.py +++ b/tools/odin/tests/test_image.py @@ -3,13 +3,18 @@ # # SPDX-License-Identifier: BSD-3-Clause -"""Dockerfile rendering, tagging, and the build/push driver.""" +"""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 @@ -52,8 +57,19 @@ def ran(self, *prefix: str) -> bool: return any(call[: len(prefix)] == list(prefix) for call in self.calls) -def test_tag_encodes_the_short_sha_and_profiles() -> None: - assert image_tag_for(_SPEC, _SHA, ["full"]) == "nvcr.io/nvidian/antoiner-isaac-lab:abcdef1-full" +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: @@ -68,53 +84,10 @@ def test_resolve_ref_rejects_an_unknown_ref(tmp_path: Path) -> None: resolve_ref("nope", repo_root=tmp_path, run=fake) -def test_dockerfile_clones_from_the_bundle_and_verifies_the_sha() -> None: - text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1-runtime-ubuntu24.04", profiles=["full"]) - assert "FROM nvidia/cuda:12.8.1-runtime-ubuntu24.04" in text - assert "isaaclab.bundle" in text - assert f"git clone --branch {BUNDLE_REF}" in text - assert f'test "$(git rev-parse HEAD)" = "{_SHA}"' in text - - -def test_dockerfile_syncs_once_per_profile() -> None: - text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["full"]) - assert text.count("uv sync --frozen") == 1 - - -def test_dockerfile_pins_the_lockfile_on_sync() -> None: - # Without --frozen a stale local uv could re-resolve and defeat the pinning. - text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["full"]) - assert "uv sync --frozen" in text - - -def test_full_profile_never_selects_conflicting_extras() -> None: - # ovphysx is no longer forbidden -- the packaging override made it - # co-resolvable with isaacsim -- but these five still conflict. - text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["full"]) - sync_line = next(line for line in text.splitlines() if "uv sync --frozen" in line) - for forbidden in ("--extra all", "--extra mimic", "--extra teleop", "--extra viser", "--extra test"): - assert forbidden not in sync_line - assert "--extra ovphysx" in sync_line - assert "--extra isaacsim" in sync_line - - -def test_unknown_profile_is_rejected() -> None: - with pytest.raises(ImageBuildError, match="quantum"): - render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["quantum"]) - - 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, - profiles=["full"], - context_dir=tmp_path / "ctx", - dry_run=True, - run=fake, - ) - assert tag.endswith(":abcdef1-full") + 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") @@ -122,7 +95,7 @@ def test_dry_run_writes_the_context_but_invokes_no_docker(tmp_path: Path) -> Non 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, profiles=["full"], context_dir=tmp_path / "ctx", run=fake) + 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") @@ -133,36 +106,26 @@ def test_build_bundles_one_ref_and_invokes_docker_build(tmp_path: Path) -> None: def test_temp_ref_is_deleted_after_bundling(tmp_path: Path) -> None: fake = _FakeRun() - build_image(spec=_SPEC, ref="HEAD", repo_root=tmp_path, profiles=["full"], context_dir=tmp_path / "ctx", run=fake) + 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, profiles=["full"], context_dir=tmp_path / "ctx", run=fake - ) + 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, profiles=["full"], context_dir=tmp_path / "ctx", run=fake) + 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, - profiles=["full"], - context_dir=tmp_path / "ctx", - push=True, - run=fake, - ) + build_image(spec=_SPEC, ref="HEAD", repo_root=tmp_path, context_dir=tmp_path / "ctx", push=True, run=fake) assert fake.ran("docker", "push") @@ -171,18 +134,4 @@ def test_failed_docker_build_raises(tmp_path: Path) -> None: # 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, profiles=["full"], context_dir=tmp_path / "ctx", run=fake - ) - - -def test_uv_sync_uses_a_resumable_cache_mount() -> None: - # This step pulls tens of GB from PyPI. Without a cache mount a dropped - # connection discards everything and the retry restarts from zero. - text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["full"]) - assert "--mount=type=cache,target=/opt/uv-cache" in text - - -def test_uv_http_timeout_is_raised_above_the_default() -> None: - text = render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1", profiles=["full"]) - assert "UV_HTTP_TIMEOUT" in text + 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 index d5251643be59..990239f04da9 100644 --- a/tools/odin/tests/test_layout.py +++ b/tools/odin/tests/test_layout.py @@ -8,8 +8,6 @@ import importlib from pathlib import Path -import pytest - _ODIN_ROOT = Path(__file__).resolve().parents[1] # Sub-packages that belonged to the fleet-and-OSMO harness OdinV2 replaced. @@ -18,9 +16,9 @@ _REMOVED_SUBPACKAGES = ("asgard", "valhalla", "hugin", "munin", "common", "bifrost", "scripts") -@pytest.mark.parametrize("name", _REMOVED_SUBPACKAGES) -def test_removed_subpackage_is_absent(name: str) -> None: - assert not (_ODIN_ROOT / name).exists(), f"tools/odin/{name} should not exist in OdinV2" +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: diff --git a/tools/odin/tests/test_plan.py b/tools/odin/tests/test_plan.py index 3351b64448b7..64e3328aecb1 100644 --- a/tools/odin/tests/test_plan.py +++ b/tools/odin/tests/test_plan.py @@ -9,14 +9,7 @@ import pytest -from tools.odin.plan import ( - PlanError, - apply_metadata, - build_row_key, - load_task_rows, - plan_rows, - uv_extras_for_profile, -) +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 @@ -47,29 +40,17 @@ def test_renderer_variants_do_not_collide() -> None: assert len(keys) == len(set(keys)) == 3 -def test_full_profile_holds_every_backend() -> None: +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. - extras = uv_extras_for_profile("full") - for expected in ("isaacsim", "ovphysx", "ovrtx", "rsl-rl", "skrl", "rl-games", "sb3", "rerun"): - assert expected in extras + assert plan_rows(task_rows=_ROWS, seeds=[42])[0].uv_extras is UV_EXTRAS -def test_full_profile_excludes_extras_that_cannot_co_resolve() -> None: - # teleop, viser, mimic, test and the `all` aggregate still conflict with - # isaacsim in [tool.uv].conflicts. - extras = uv_extras_for_profile("full") +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 extras - - -def test_unknown_profile_is_rejected() -> None: - with pytest.raises(PlanError, match="quantum"): - uv_extras_for_profile("quantum") - - -def test_rows_default_to_the_full_profile() -> None: - assert plan_rows(task_rows=_ROWS, seeds=[42])[0].profile == "full" + assert forbidden not in UV_EXTRAS def test_rows_expand_across_seeds() -> None: @@ -203,21 +184,16 @@ def test_task_without_a_physics_preset_is_planned() -> None: assert row.row_key == "rsl_rl_default_Isaac-X_seed42" -def test_presets_accept_a_single_token() -> None: - row = plan_rows(task_rows=[dict(_ROWS[0], presets="depth")], seeds=[42])[0] - assert row.presets == ("depth",) - - -def test_presets_accept_a_comma_separated_string() -> None: - # Discovery emits one token, but a hand-written list may compose several. - row = plan_rows(task_rows=[dict(_ROWS[0], presets="depth,simple_shading_full_mdl")], seeds=[42])[0] - assert row.presets == ("depth", "simple_shading_full_mdl") - - -def test_presets_accept_a_yaml_list() -> None: - row = plan_rows(task_rows=[dict(_ROWS[0], presets=["depth", "albedo"])], seeds=[42])[0] - assert row.presets == ("depth", "albedo") - - -def test_absent_presets_are_empty() -> None: - assert plan_rows(task_rows=_ROWS, seeds=[42])[0].presets == () +@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 index a5c26a40bb5e..a7df7d57b8c2 100644 --- a/tools/odin/tests/test_poller.py +++ b/tools/odin/tests/test_poller.py @@ -73,15 +73,7 @@ def _snapshot(status: str, exit_code: int | None = None) -> WorkflowSnapshot: [ ("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"), ], ) def test_terminal_states_map_to_failure_kinds(osmo_state: str, kind: str) -> None: diff --git a/tools/odin/tests/test_results.py b/tools/odin/tests/test_results.py index 34f6705a04e9..aa13bd08e724 100644 --- a/tools/odin/tests/test_results.py +++ b/tools/odin/tests/test_results.py @@ -8,13 +8,11 @@ import json from pathlib import Path -from tools.odin.results import dispatch_output_uri, fetch_results, results_uri_for, validate_bundle +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) - # Upstream's SchemaBundleFile writes "_.json" into - # --output_path, where output_prefix is "benchmark__". 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 @@ -42,19 +40,18 @@ def test_dispatch_output_uri_prefixes_every_row_uri() -> None: assert results_uri_for(base, dispatch, "row").startswith(dispatch_output_uri(base, dispatch)) -def test_no_shell_publish_command_is_exported() -> None: - # Publishing is declarative now. A shell upload spliced into the entry - # script silently no-ops: the image has no osmo binary. - import tools.odin.results as results - - assert not hasattr(results, "publish_command") - - 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 diff --git a/tools/odin/tests/test_state.py b/tools/odin/tests/test_state.py index 12d00e46b667..eacb94f39412 100644 --- a/tools/odin/tests/test_state.py +++ b/tools/odin/tests/test_state.py @@ -99,7 +99,7 @@ def test_read_returns_none_when_absent(tmp_path: Path) -> None: assert read_dispatch_state(tmp_path) is None -def test_incompatible_major_schema_is_rejected(tmp_path: Path) -> 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) @@ -116,7 +116,6 @@ def test_transition_to_running_sets_started_at() -> None: assert job.status == "running" assert job.started_at is not None assert job.assigned_to == "osmo:wf-1" - assert job.attempts == 1 def test_transition_to_running_requires_an_assignee() -> None: @@ -155,7 +154,6 @@ def test_same_state_transition_is_a_noop() -> None: first_started = job.started_at job.transition_to("running", assigned_to="osmo:wf-1") assert job.started_at == first_started - assert job.attempts == 1 def test_illegal_transition_is_rejected() -> None: diff --git a/tools/odin/tests/test_workflow.py b/tools/odin/tests/test_workflow.py index 14b36e966c9e..ec78944534df 100644 --- a/tools/odin/tests/test_workflow.py +++ b/tools/odin/tests/test_workflow.py @@ -3,14 +3,18 @@ # # SPDX-License-Identifier: BSD-3-Clause -"""Rendering of the OSMO workflow YAML.""" +"""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 PlannedRow +from tools.odin.plan import UV_EXTRAS, PlannedRow from tools.odin.workflow import osmo_safe_task_name, render_workflow_yaml _CFG = OdinConfig( @@ -40,8 +44,7 @@ num_envs=None, max_iterations=None, timeout_s=None, - uv_extras=("rsl-rl", "isaacsim"), - profile="isaacsim", + uv_extras=UV_EXTRAS, osmo_task_name="rsl-rl-physx-isaac-ant-seed42", ) @@ -70,6 +73,27 @@ 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"] @@ -84,10 +108,6 @@ def test_each_task_gets_its_own_group() -> None: assert all(len(group["tasks"]) == 1 for group in groups) -def test_image_reference_is_the_digest_pinned_argument() -> None: - assert _task(_render())["image"] == _IMAGE - - 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 @@ -95,64 +115,6 @@ def test_pull_credential_maps_the_name_to_the_registry_host() -> None: assert _task(_render())["credentials"] == {"ngc_read_only": "nvcr.io"} -def test_timeouts_come_from_config() -> None: - timeout = yaml.safe_load(_render())["workflow"]["timeout"] - assert timeout["exec_timeout"] == "86400s" - assert timeout["queue_timeout"] == "172800s" - - -def test_entry_script_invokes_the_upstream_benchmark_cli() -> None: - script = _script(_render()) - assert "uv run" in script - assert "--extra rsl-rl" in script - assert "--extra isaacsim" in script - assert "isaaclab benchmark training" in script - assert "--rl_library rsl_rl" in script - assert "--task Isaac-Ant" in script - assert "--seed 42" in script - assert "--benchmark_formatter schema" in script - assert "physics=physx" in script - - -def test_entry_script_does_not_pass_headless() -> None: - # --headless was removed upstream in favour of --visualizer/--viz; runs are - # headless when neither is passed. - assert "--headless" not in _script(_render()) - - -def test_unsized_row_omits_the_sizing_flags() -> None: - # Omitting them is what makes the task fall back to its shipped agent config. - script = _script(_render()) - assert "--num_envs" not in script - assert "--max_iterations" not in script - - -def test_sized_row_emits_the_sizing_flags() -> None: - row = dataclasses.replace(_ROW, num_envs=4096, max_iterations=500) - script = _script(_render(rows=(row,))) - assert "--num_envs 4096" in script - assert "--max_iterations 500" in script - - -def test_headless_row_omits_the_renderer_selector() -> None: - assert "renderer=" not in _script(_render()) - - -def test_renderer_selector_is_emitted_when_set() -> None: - row = dataclasses.replace(_ROW, renderer="isaacsim_rtx") - assert "renderer=isaacsim_rtx" in _script(_render(rows=(row,))) - - -def test_task_declares_a_declarative_outputs_block() -> None: - # Publishing must not be a shell command in the entry script: the image has - # no osmo binary and no credentials, so it would silently no-op. - assert _task(_render())["outputs"] == [{"url": _OUTPUT_URI}] - - -def test_entry_script_contains_no_upload_command() -> None: - assert "osmo data upload" not in _script(_render()) - - 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. @@ -168,26 +130,12 @@ def test_artifact_listing_cannot_fail_the_task() -> None: assert 'find "$OUT" -type f | head -40 || true' in _script(_render()) -def test_exit_actions_come_from_retry_config() -> None: - actions = _task(_render())["exitActions"] - assert actions["RESCHEDULE"] == "3001-3006" - assert "RESTART" not in actions - - def test_workflow_name_is_unique_per_chunk() -> None: first = yaml.safe_load(_render(chunk_index=0))["workflow"]["name"] second = yaml.safe_load(_render(chunk_index=1))["workflow"]["name"] assert first != second -def test_every_task_shares_the_dispatch_output_prefix() -> None: - # Each task writes into its own {{output}}//, so one shared prefix - # is correct and rows cannot collide. - second = dataclasses.replace(_ROW, row_key="other", osmo_task_name="other") - rendered = _render(rows=(_ROW, second)) - assert _task(rendered, 0)["outputs"] == _task(rendered, 1)["outputs"] - - def test_long_row_key_is_truncated_with_a_stable_hash() -> None: long_key = "rsl_rl_newton_mjwarp_" + "Isaac-Very-Long-Task-Name-" * 4 + "seed42" name = osmo_safe_task_name(long_key) @@ -195,36 +143,6 @@ def test_long_row_key_is_truncated_with_a_stable_hash() -> None: assert name == osmo_safe_task_name(long_key) -def test_multiple_presets_render_as_one_comma_separated_token() -> None: - # The executor imposes no one-at-a-time limit; discovery's is its own. - row = dataclasses.replace(_ROW, presets=("depth", "simple_shading_full_mdl")) - assert "presets=depth,simple_shading_full_mdl" in _script(_render(rows=(row,))) - - -def test_no_presets_token_when_empty() -> None: - assert "presets=" not in _script(_render()) - - -def test_play_is_not_chained_by_default() -> None: - script = _script(_render()) - assert "isaaclab benchmark play" not in script - - -def test_chained_play_reads_the_training_checkpoint() -> None: - row = dataclasses.replace(_ROW, play=True) - script = _script(_render(rows=(row,))) - assert "isaaclab benchmark play" in script - assert '--checkpoint "$CKPT"' in script - assert "benchmark_training_*.json" in script - - -def test_chained_play_records_a_video() -> None: - row = dataclasses.replace(_ROW, play=True, video_length=120) - script = _script(_render(rows=(row,))) - assert "--video " in script or "--video\n" in script - assert "--video_length 120" in script - - 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),))) @@ -232,11 +150,6 @@ def test_chained_play_is_skipped_when_training_fails() -> None: assert 'PLAY_STATUS="skipped_training_failed"' in script -def test_chained_play_is_skipped_without_a_checkpoint() -> None: - script = _script(_render(rows=(dataclasses.replace(_ROW, play=True),))) - assert 'PLAY_STATUS="skipped_no_checkpoint"' 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),))) @@ -258,47 +171,3 @@ def test_entry_script_never_calls_system_python() -> None: 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 - - -def test_every_row_writes_a_step_record() -> None: - # Bundles say what a run measured; this says what happened. - assert "odin-steps.json" in _script(_render()) - - -def test_step_record_distinguishes_why_play_did_not_run() -> None: - script = _script(_render(rows=(dataclasses.replace(_ROW, play=True),))) - for status in ("skipped_training_failed", "skipped_no_checkpoint", "ran"): - assert status in script - - -def test_step_record_marks_play_not_requested_when_disabled() -> None: - assert 'PLAY_STATUS="not_requested"' in _script(_render()) - - -def test_step_record_failure_cannot_fail_the_task() -> None: - # Diagnostics must never be the reason a good run goes red. - assert "could not write odin-steps.json" in _script(_render()) - - -def test_checkpoint_is_not_retained_by_default() -> None: - assert '"$OUT/checkpoint"' not in _script(_render()) - - -def test_keep_checkpoint_copies_it_into_the_uploaded_output() -> None: - # OSMO uploads only {{output}}; RL libraries write checkpoints under logs/, - # so without this copy the run is un-replayable. - script = _script(_render(rows=(dataclasses.replace(_ROW, keep_checkpoint=True),))) - assert 'mkdir -p "$OUT/checkpoint"' in script - assert 'cp "$CKPT" "$OUT/checkpoint/"' in script - - -def test_checkpoint_is_resolved_even_without_play() -> None: - # Retaining a checkpoint and rolling it out are separate concerns. - script = _script(_render(rows=(dataclasses.replace(_ROW, keep_checkpoint=True),))) - assert "benchmark_training_*.json" in script - assert "isaaclab benchmark play" not in script - - -def test_step_record_reports_where_the_checkpoint_was_retained() -> None: - script = _script(_render(rows=(dataclasses.replace(_ROW, keep_checkpoint=True),))) - assert "retained_as" in script From 3701b8983e95dafad191d7443b03ca549f74c0d6 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Wed, 29 Jul 2026 20:40:14 +0200 Subject: [PATCH 32/33] Trim narrative and rotting detail from comments and docs Comments should say what the code does and why, in the present tense. Removed the ones that instead recount how a bug was found or what the code used to be, the speculative paragraphs about where an API might one day move, and the exact task counts that go stale the next time the registry changes without anything failing to say so. The README also still described the per-profile build that this branch collapsed: --profile, the profile table, and the -full tag suffix are gone, and the retry section now states the per-seed and A/B rules. Added the ODIN_UPDATE_GOLDEN workflow for re-rendering the golden files. Kept the comments that record something the code cannot: the config_file module-name clash, bool subclassing int, BUNDLE_REF's effect on recorded provenance, why pending may go straight to terminal, why each OSMO task gets its own group, and why the image clones a bundle rather than copying a checkout. --- .../test/benchmark/test_play_video.py | 9 +-- .../isaaclab_rl/entrypoints/common.py | 13 +--- tools/odin/README.md | 67 ++++++++++--------- tools/odin/harvest.py | 3 +- tools/odin/plan.py | 4 -- tools/odin/tests/test_cli.py | 3 +- tools/odin/tests/test_discover.py | 2 +- tools/odin/tests/test_plan.py | 4 +- 8 files changed, 44 insertions(+), 61 deletions(-) diff --git a/source/isaaclab/test/benchmark/test_play_video.py b/source/isaaclab/test/benchmark/test_play_video.py index 61fd96f9bd6a..3f7533697fed 100644 --- a/source/isaaclab/test/benchmark/test_play_video.py +++ b/source/isaaclab/test/benchmark/test_play_video.py @@ -5,9 +5,8 @@ """Video recording on the play benchmark adapters. -``PlayBundle.video_path`` and ``build_play_bundle(video_path=...)`` existed long -before any adapter could populate them, so a camera task was benchmarked -headless. These tests pin the wiring that closed that gap. +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 @@ -29,7 +28,6 @@ def _adapter_source(backend: str) -> str: def test_play_video_args_omit_the_training_interval() -> None: - # A play run is one bounded rollout, so there is no later interval to catch. parser = argparse.ArgumentParser() add_video_args(parser, include_interval=False) args = parser.parse_args([]) @@ -75,8 +73,7 @@ def test_adapter_wires_video(backend: str) -> None: @pytest.mark.parametrize("backend", ("rsl_rl", "rl_games", "skrl")) def test_training_reports_the_checkpoint_it_wrote(backend: str) -> None: - # checkpoint_path was hardcoded None in three of four train adapters, so the - # schema field was dead and a chained play step had nothing to read. + # 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 diff --git a/source/isaaclab_rl/isaaclab_rl/entrypoints/common.py b/source/isaaclab_rl/isaaclab_rl/entrypoints/common.py index 4f78d3745652..7377d93d9e98 100644 --- a/source/isaaclab_rl/isaaclab_rl/entrypoints/common.py +++ b/source/isaaclab_rl/isaaclab_rl/entrypoints/common.py @@ -615,8 +615,7 @@ 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: a play run is one bounded rollout, so there is - no later interval to catch. + than on a periodic trigger; see :func:`add_video_args`. Args: env: Gymnasium environment to wrap. @@ -641,15 +640,7 @@ def wrap_record_video_play(env, output_dir: str, args_cli: argparse.Namespace): def play_video_dir(output_dir: str, args_cli: argparse.Namespace) -> str | None: - """Return the directory a play video was written to, or ``None``. - - Args: - output_dir: Directory passed to :func:`wrap_record_video_play`. - args_cli: Parsed command-line arguments. - - Returns: - The video directory when recording was requested, else ``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") diff --git a/tools/odin/README.md b/tools/odin/README.md index 467da81b724b..f32452e5c8bd 100644 --- a/tools/odin/README.md +++ b/tools/odin/README.md @@ -29,35 +29,28 @@ tested with the changed dependency. uv run python -m tools.odin.cli build-image \ --config tools/odin/config/odin.yaml \ --ref \ - --profile full \ --push ``` `--dry_run` writes the build context and prints the tag without invoking git bundling or Docker — useful for inspecting the generated Dockerfile. -One profile, `full`, holding every backend: - -| Profile | Extras | Covers | -|---|---|---| -| `full` | `isaacsim, ovphysx, ovrtx, rsl-rl, skrl, rl-games, sb3, rerun` | Kit PhysX, OvPhysX, Newton, OVRTX, all four RL libraries | - -A single virtualenv became possible once the root `pyproject.toml` widened the -`packaging` cap to `<27`: `ovphysx` capped it at `<24` while `isaacsim-core` -pinned `==26.0`, which had made the two extras unresolvable together. `teleop`, -`viser`, `mimic`, `test` and the `all` aggregate still conflict with `isaacsim` -and are excluded. +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 39 tasks and to Kit -PhysX on 5 — so with split profiles a row could only be routed correctly by -loading its env cfg first. One profile removes that dependency entirely. +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 +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 @@ -78,15 +71,14 @@ 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 — 15 of the 16 -pairings survive for a Cartpole camera task. Discovery checks each pairing -against the runtime validator, which costs about 7 seconds for the whole +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 on 31 tasks are filtered out, since those are chosen -with `physics=`. +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 @@ -127,13 +119,12 @@ 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 (28 tasks). Tasks declaring no physics preset -get one row with the field omitted, since they reject any `physics=` token -(35 tasks). +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 39 tasks and to Kit PhysX on only 5. `isaacsim_physx` is the reliably -Kit one. To sweep the whole PhysX family: +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 @@ -179,9 +170,8 @@ task exits with the **training** exit code — a play failure must not turn a go 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`. That field -was hardcoded `None` in three of the four train adapters until this branch, so -it reported nothing; it now records what actually landed on disk. +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 @@ -222,7 +212,10 @@ 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. +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 @@ -250,8 +243,7 @@ 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`, which is where these -values should eventually live. +`source/isaaclab_tasks/test/benchmarking/configs.yaml`. ## On-disk layout @@ -320,3 +312,12 @@ uv run --frozen --extra test python -m pytest \ `--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/harvest.py b/tools/odin/harvest.py index 70a146970744..9b2e453bf8ee 100644 --- a/tools/odin/harvest.py +++ b/tools/odin/harvest.py @@ -12,8 +12,7 @@ so the sizing table is measured rather than guessed. The comparable upstream table is -``source/isaaclab_tasks/test/benchmarking/configs.yaml``, which is the natural -home for these values once they have settled. +``source/isaaclab_tasks/test/benchmarking/configs.yaml``. """ from __future__ import annotations diff --git a/tools/odin/plan.py b/tools/odin/plan.py index 397fb3e06aeb..98d2026e199f 100644 --- a/tools/odin/plan.py +++ b/tools/odin/plan.py @@ -9,10 +9,6 @@ ``--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. - -This module is also the seam the upstream task-discovery API replaces: when -``isaaclab tasks list --json`` lands, :func:`load_task_rows` swaps its source and -nothing downstream of :class:`PlannedRow` changes. """ from __future__ import annotations diff --git a/tools/odin/tests/test_cli.py b/tools/odin/tests/test_cli.py index 8f6f38f5a7d0..fa72902053ff 100644 --- a/tools/odin/tests/test_cli.py +++ b/tools/odin/tests/test_cli.py @@ -492,8 +492,7 @@ def test_retry_failed_on_a_clean_dispatch_is_an_error(workspace: Path, capsys) - 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, which is how an - # undefined name survived until ruff caught it. + # 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 diff --git a/tools/odin/tests/test_discover.py b/tools/odin/tests/test_discover.py index 658084f1948a..9f25258d4810 100644 --- a/tools/odin/tests/test_discover.py +++ b/tools/odin/tests/test_discover.py @@ -31,7 +31,7 @@ rl_libraries=("rsl_rl",), modes=(Mode("newton_mjwarp", None, None),), ) -# 35 real tasks declare no physics preset and reject any physics= token. +# 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),) ) diff --git a/tools/odin/tests/test_plan.py b/tools/odin/tests/test_plan.py index 64e3328aecb1..062945e6ca24 100644 --- a/tools/odin/tests/test_plan.py +++ b/tools/odin/tests/test_plan.py @@ -177,8 +177,8 @@ def test_preset_variants_have_a_fixed_order() -> None: def test_task_without_a_physics_preset_is_planned() -> None: - # 35 of the 87 usable tasks declare no physics preset and hard-fail on any - # physics= token, so physics must be optional. + # 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" From 3493b39f2e04a3aefab15af6c3c6bd3fd7619a36 Mon Sep 17 00:00:00 2001 From: Antoine Richard Date: Thu, 30 Jul 2026 09:09:51 +0200 Subject: [PATCH 33/33] Stop shipping the generated task list tools/odin/config/tasks.yaml is produced by `odin discover` in seconds and goes stale against the registry the moment a task changes. Committing it added 9059 lines -- 55 percent of the branch diff -- of content nobody should read line by line, and every regeneration was a diff. It is now gitignored, and dispatch says how to produce one when it is absent rather than reporting an unreadable path. Dropping the generated_at timestamp from the header removes the remaining source of churn for anyone who does keep a local copy. The CLI tests wrote their own three-row list instead of copying the 1663-row file into every case, which takes the suite from 21s to 1s. Marks the rendered test goldens as generated so they collapse in review. --- .gitattributes | 3 + .gitignore | 4 + tools/odin/README.md | 6 +- tools/odin/cli.py | 8 +- tools/odin/config/tasks.yaml | 9059 --------------------------------- tools/odin/discover.py | 3 +- tools/odin/tests/test_cli.py | 35 +- tools/odin/tests/test_plan.py | 7 - 8 files changed, 55 insertions(+), 9070 deletions(-) delete mode 100644 tools/odin/config/tasks.yaml 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/tools/odin/README.md b/tools/odin/README.md index f32452e5c8bd..7f115ec8fc0e 100644 --- a/tools/odin/README.md +++ b/tools/odin/README.md @@ -55,12 +55,16 @@ comparison compared. ## Generate the task list -Discovery over the Gym registry is the default row source: +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. diff --git a/tools/odin/cli.py b/tools/odin/cli.py index a964e431df3a..92d77aeb9f58 100644 --- a/tools/odin/cli.py +++ b/tools/odin/cli.py @@ -171,6 +171,13 @@ def command_dispatch(args: argparse.Namespace) -> int: 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: @@ -495,7 +502,6 @@ def command_discover(args: argparse.Namespace) -> int: args.output, rows, meta={ - "generated_at": _utc_now_iso(), "task_count": len({row["task_id"] for row in rows}), "row_count": len(rows), }, diff --git a/tools/odin/config/tasks.yaml b/tools/odin/config/tasks.yaml deleted file mode 100644 index 3ab421d00774..000000000000 --- a/tools/odin/config/tasks.yaml +++ /dev/null @@ -1,9059 +0,0 @@ -# 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 - -# Generated by tools/odin/discover.py. Do not edit by hand -- regenerate, -# or pass a hand-written file to `dispatch --tasks_yaml` to override. -# -# Sizing is absent by design: it is harvested from a real run into -# task_metadata.yaml and applied as an overlay. -discovery: - generated_at: '2026-07-29T15:53:33Z' - task_count: 87 - row_count: 1663 -tasks: -- task_id: Isaac-Ant - scope: core - rl_library: rl_games - physics: newton_kamino -- task_id: Isaac-Ant - scope: core - rl_library: rl_games - physics: newton_mjwarp -- task_id: Isaac-Ant - scope: core - rl_library: rl_games - physics: physx -- task_id: Isaac-Ant - scope: core - rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Ant - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Ant - scope: core - rl_library: rsl_rl - physics: physx -- task_id: Isaac-Ant - scope: core - rl_library: sb3 - physics: newton_kamino -- task_id: Isaac-Ant - scope: core - rl_library: sb3 - physics: newton_mjwarp -- task_id: Isaac-Ant - scope: core - rl_library: sb3 - physics: physx -- task_id: Isaac-Ant - scope: core - rl_library: skrl - physics: newton_kamino -- task_id: Isaac-Ant - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Ant - scope: core - rl_library: skrl - physics: physx -- task_id: Isaac-Ant-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx -- task_id: Isaac-Ant-Direct - scope: core - rl_library: rl_games - physics: newton_kamino -- task_id: Isaac-Ant-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp -- task_id: Isaac-Ant-Direct - scope: core - rl_library: rl_games - physics: ovphysx -- task_id: Isaac-Ant-Direct - scope: core - rl_library: rsl_rl - physics: isaacsim_physx -- task_id: Isaac-Ant-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Ant-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Ant-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Ant-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx -- task_id: Isaac-Ant-Direct - scope: core - rl_library: skrl - physics: newton_kamino -- task_id: Isaac-Ant-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Ant-Direct - scope: core - rl_library: skrl - physics: ovphysx -- task_id: Isaac-Cartpole - scope: core - rl_library: rl_games - physics: newton_kamino -- task_id: Isaac-Cartpole - scope: core - rl_library: rl_games - physics: newton_mjwarp -- task_id: Isaac-Cartpole - scope: core - rl_library: rl_games - physics: ovphysx -- task_id: Isaac-Cartpole - scope: core - rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Cartpole - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Cartpole - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Cartpole - scope: core - rl_library: sb3 - physics: newton_kamino -- task_id: Isaac-Cartpole - scope: core - rl_library: sb3 - physics: newton_mjwarp -- task_id: Isaac-Cartpole - scope: core - rl_library: sb3 - physics: ovphysx -- task_id: Isaac-Cartpole - scope: core - rl_library: skrl - physics: newton_kamino -- task_id: Isaac-Cartpole - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Cartpole - scope: core - rl_library: skrl - physics: ovphysx -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: albedo -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: depth -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: resnet18 -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: rgb -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: theia_tiny -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer - presets: albedo -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer - presets: depth -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer - presets: resnet18 -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer - presets: rgb -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer - presets: theia_tiny -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: albedo -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: depth -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: resnet18 -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: rgb -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: theia_tiny -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: albedo -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: depth -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: resnet18 -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: rgb -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: theia_tiny -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: albedo -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: depth -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: resnet18 -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: rgb -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - 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scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: isaacsim_rtx -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: isaacsim_rtx - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: isaacsim_rtx - presets: depth -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: isaacsim_rtx - presets: rgb -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: isaacsim_rtx - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: isaacsim_rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: newton_renderer -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: newton_renderer - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: newton_renderer - presets: depth -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: newton_renderer - presets: rgb -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: newton_renderer - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: newton_renderer - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: newton_renderer - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: newton_renderer - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: rtx -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: rtx - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: rtx - presets: depth -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: rtx - presets: rgb -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: rtx - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx - renderer: rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: depth -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: rgb -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - 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scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: depth -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: rgb -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: depth -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: rgb -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: depth -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: rgb -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: newton_renderer -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: newton_renderer - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: newton_renderer - presets: depth -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: newton_renderer - presets: rgb -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: newton_renderer - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: ovrtx -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: ovrtx - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: ovrtx - presets: depth -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: ovrtx - presets: rgb -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: ovrtx - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: rtx -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: rtx - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: rtx - presets: depth -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: rtx - presets: rgb -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: rtx - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: isaacsim_rtx -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: isaacsim_rtx - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: isaacsim_rtx - presets: depth -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: isaacsim_rtx - presets: rgb -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: isaacsim_rtx - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: newton_renderer -- task_id: Isaac-Cartpole-Camera-Direct - 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scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: isaacsim_rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: newton_renderer -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: newton_renderer - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: newton_renderer - presets: depth -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: newton_renderer - presets: rgb -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: newton_renderer - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: newton_renderer - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: newton_renderer - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: newton_renderer - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: rtx -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: rtx - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: rtx - presets: depth -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: rtx - presets: rgb -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: rtx - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx - renderer: rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: isaacsim_rtx -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: isaacsim_rtx - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: isaacsim_rtx - presets: depth -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: isaacsim_rtx - presets: rgb -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: isaacsim_rtx - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: isaacsim_rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: newton_renderer -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: newton_renderer - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: newton_renderer - presets: depth -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: newton_renderer - presets: rgb -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: newton_renderer - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: newton_renderer - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: newton_renderer - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: newton_renderer - 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scope: core - rl_library: skrl - physics: newton_kamino - renderer: ovrtx - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: rtx -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: rtx - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: rtx - presets: depth -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: rtx - presets: rgb -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: rtx - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_kamino - renderer: rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp - renderer: isaacsim_rtx -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: depth -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: rgb -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp - renderer: newton_renderer -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp - renderer: newton_renderer - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp - renderer: newton_renderer - presets: depth -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp - renderer: newton_renderer - presets: rgb -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp - renderer: newton_renderer - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp - renderer: ovrtx -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp - renderer: ovrtx - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp - renderer: ovrtx - presets: depth -- task_id: Isaac-Cartpole-Camera-Direct - 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physics: ovphysx - renderer: isaacsim_rtx - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: ovphysx - renderer: isaacsim_rtx - presets: depth -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: ovphysx - renderer: isaacsim_rtx - presets: rgb -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: ovphysx - renderer: isaacsim_rtx - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - 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presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: ovphysx - renderer: rtx -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: ovphysx - renderer: rtx - presets: albedo -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: ovphysx - renderer: rtx - presets: depth -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: ovphysx - renderer: rtx - presets: rgb -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: ovphysx - renderer: rtx - presets: semantic_segmentation -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: ovphysx - renderer: rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: ovphysx - renderer: rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Cartpole-Camera-Direct - scope: core - rl_library: skrl - physics: ovphysx - renderer: rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Cartpole-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx -- task_id: Isaac-Cartpole-Direct - scope: core - rl_library: rl_games - physics: newton_kamino -- task_id: Isaac-Cartpole-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp -- task_id: Isaac-Cartpole-Direct - scope: core - rl_library: rl_games - physics: ovphysx -- task_id: Isaac-Cartpole-Direct - scope: core - rl_library: rsl_rl - physics: isaacsim_physx -- task_id: Isaac-Cartpole-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Cartpole-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Cartpole-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Cartpole-Direct - scope: core - rl_library: sb3 - physics: isaacsim_physx -- task_id: Isaac-Cartpole-Direct - scope: core - rl_library: sb3 - physics: newton_kamino -- task_id: Isaac-Cartpole-Direct - scope: core - rl_library: sb3 - physics: newton_mjwarp -- task_id: Isaac-Cartpole-Direct - scope: core - rl_library: sb3 - physics: ovphysx -- task_id: Isaac-Cartpole-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx -- task_id: Isaac-Cartpole-Direct - scope: core - rl_library: skrl - physics: newton_kamino -- task_id: Isaac-Cartpole-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Cartpole-Direct - scope: core - rl_library: skrl - physics: ovphysx -- task_id: Isaac-Fourbar-Pole-Swingup - scope: core - rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Humanoid - scope: core - rl_library: rl_games - physics: newton_mjwarp -- task_id: Isaac-Humanoid - scope: core - rl_library: rl_games - physics: physx -- task_id: Isaac-Humanoid - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Humanoid - scope: core - rl_library: rsl_rl - physics: physx -- task_id: Isaac-Humanoid - scope: core - rl_library: sb3 - physics: newton_mjwarp -- task_id: Isaac-Humanoid - scope: core - rl_library: sb3 - physics: physx -- task_id: Isaac-Humanoid - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Humanoid - scope: core - rl_library: skrl - physics: physx -- task_id: Isaac-Humanoid-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx -- task_id: Isaac-Humanoid-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp -- task_id: Isaac-Humanoid-Direct - scope: core - rl_library: rl_games - physics: ovphysx -- task_id: Isaac-Humanoid-Direct - scope: core - rl_library: rsl_rl - physics: isaacsim_physx -- task_id: Isaac-Humanoid-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Humanoid-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Humanoid-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx -- task_id: Isaac-Humanoid-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Humanoid-Direct - scope: core - rl_library: skrl - physics: ovphysx -- task_id: Isaac-Lift-Cloth-Franka - scope: core - rl_library: rsl_rl - physics: newton_mjwarp_vbd -- task_id: Isaac-Lift-Cube-Franka - scope: core - rl_library: rl_games -- task_id: Isaac-Lift-Cube-Franka - scope: core - rl_library: rsl_rl -- task_id: Isaac-Lift-Cube-Franka - scope: core - rl_library: sb3 -- task_id: Isaac-Lift-Cube-Franka - scope: core - rl_library: skrl -- task_id: Isaac-Lift-Franka - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Lift-Franka - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - presets: cube -- task_id: Isaac-Lift-Franka - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - presets: shapes -- task_id: Isaac-Lift-Franka - scope: core - rl_library: rsl_rl - physics: physx -- task_id: Isaac-Lift-Franka - scope: core - rl_library: rsl_rl - physics: physx - presets: cube -- task_id: Isaac-Lift-Franka - scope: core - rl_library: rsl_rl - physics: physx - presets: shapes -- task_id: Isaac-Lift-KukaAllegro - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Lift-KukaAllegro - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - presets: cube -- task_id: Isaac-Lift-KukaAllegro - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - presets: shapes -- task_id: Isaac-Lift-KukaAllegro - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Lift-KukaAllegro - scope: core - rl_library: rsl_rl - physics: ovphysx - presets: cube -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: albedo128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: albedo256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: albedo64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: cube -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: depth128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: depth256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: depth64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: duo_camera -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: rgb128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: rgb256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: rgb64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: semantic_segmentation128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: semantic_segmentation256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: semantic_segmentation64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: shapes -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_full_mdl128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_full_mdl256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_full_mdl64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: single_camera -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: albedo128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: albedo256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: albedo64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: cube -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: depth128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: depth256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: depth64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: duo_camera -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: rgb128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: rgb256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: rgb64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: semantic_segmentation128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: semantic_segmentation256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: semantic_segmentation64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: shapes -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_constant_diffuse128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_constant_diffuse256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_constant_diffuse64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_diffuse_mdl128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_diffuse_mdl256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_diffuse_mdl64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_full_mdl128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_full_mdl256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_full_mdl64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: single_camera -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: albedo128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: albedo256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: albedo64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: cube -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: depth128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: depth256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: depth64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: duo_camera -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: rgb128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: rgb256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: rgb64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: semantic_segmentation128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: semantic_segmentation256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: semantic_segmentation64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: shapes -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_constant_diffuse128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_constant_diffuse256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_constant_diffuse64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_diffuse_mdl128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_diffuse_mdl256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_diffuse_mdl64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_full_mdl128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_full_mdl256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_full_mdl64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: single_camera -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: albedo128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: albedo256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: albedo64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: cube -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: depth128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: depth256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: depth64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: duo_camera -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: rgb128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: rgb256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: rgb64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: semantic_segmentation128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: semantic_segmentation256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: semantic_segmentation64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: shapes -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_constant_diffuse128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_constant_diffuse256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_constant_diffuse64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_diffuse_mdl128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_diffuse_mdl256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_diffuse_mdl64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_full_mdl128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_full_mdl256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_full_mdl64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: single_camera -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: albedo128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: albedo256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: albedo64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: cube -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: depth128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: depth256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: depth64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: duo_camera -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: rgb128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: rgb256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: rgb64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: semantic_segmentation128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: semantic_segmentation256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: semantic_segmentation64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_full_mdl128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_full_mdl256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_full_mdl64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: single_camera -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: albedo128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: albedo256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: albedo64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: cube -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: depth128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: depth256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: depth64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: duo_camera -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: rgb128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: rgb256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: rgb64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: semantic_segmentation128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: semantic_segmentation256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: semantic_segmentation64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_constant_diffuse128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_constant_diffuse256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_constant_diffuse64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_diffuse_mdl128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_diffuse_mdl256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_diffuse_mdl64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_full_mdl128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_full_mdl256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_full_mdl64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: single_camera -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: albedo128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: albedo256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: albedo64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: cube -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: depth128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: depth256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: depth64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: duo_camera -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: rgb128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: rgb256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: rgb64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: semantic_segmentation128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: semantic_segmentation256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: semantic_segmentation64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_constant_diffuse128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_constant_diffuse256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_constant_diffuse64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_diffuse_mdl128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_diffuse_mdl256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_diffuse_mdl64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_full_mdl128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_full_mdl256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_full_mdl64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: single_camera -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: albedo128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: albedo256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: albedo64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: cube -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: depth128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: depth256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: depth64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: duo_camera -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: rgb128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: rgb256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: rgb64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: semantic_segmentation128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: semantic_segmentation256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: semantic_segmentation64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: simple_shading_constant_diffuse128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: simple_shading_constant_diffuse256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: simple_shading_constant_diffuse64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: simple_shading_diffuse_mdl128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: simple_shading_diffuse_mdl256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: simple_shading_diffuse_mdl64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: simple_shading_full_mdl128 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: simple_shading_full_mdl256 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: simple_shading_full_mdl64 -- task_id: Isaac-Lift-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: single_camera -- task_id: Isaac-Lift-Soft-Franka - scope: core - rl_library: rsl_rl - physics: newton_mjwarp_vbd -- task_id: Isaac-Lift-Soft-Franka - scope: core - rl_library: rsl_rl - physics: physx -- task_id: Isaac-Open-Drawer-Franka - scope: core - rl_library: rl_games -- task_id: Isaac-Open-Drawer-Franka - scope: core - rl_library: rsl_rl -- task_id: Isaac-Open-Drawer-Franka - scope: core - rl_library: skrl -- task_id: Isaac-Open-Drawer-Franka-Direct - scope: core - rl_library: rl_games - physics: isaacsim_physx -- task_id: Isaac-Open-Drawer-Franka-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp -- task_id: Isaac-Open-Drawer-Franka-Direct - scope: core - rl_library: rl_games - physics: ovphysx -- task_id: Isaac-Open-Drawer-Franka-Direct - scope: core - rl_library: rsl_rl - physics: isaacsim_physx -- task_id: Isaac-Open-Drawer-Franka-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Open-Drawer-Franka-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Open-Drawer-Franka-Direct - scope: core - rl_library: skrl - physics: isaacsim_physx -- task_id: Isaac-Open-Drawer-Franka-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Open-Drawer-Franka-Direct - scope: core - rl_library: skrl - physics: ovphysx -- task_id: Isaac-Pendulum-Direct - scope: core - rl_library: rl_games -- task_id: Isaac-Pendulum-Direct - scope: core - rl_library: skrl -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rl_games - physics: isaacsim_physx -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rl_games - physics: isaacsim_physx - presets: diffik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rl_games - physics: isaacsim_physx - presets: joint_pos -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rl_games - physics: isaacsim_physx - presets: newton_ik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rl_games - physics: newton_kamino -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rl_games - physics: newton_kamino - presets: diffik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rl_games - physics: newton_kamino - presets: joint_pos -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rl_games - physics: newton_kamino - presets: newton_ik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rl_games - physics: newton_mjwarp -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rl_games - physics: newton_mjwarp - presets: diffik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rl_games - physics: newton_mjwarp - presets: joint_pos -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rl_games - physics: newton_mjwarp - presets: newton_ik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rl_games - physics: ovphysx -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rl_games - physics: ovphysx - presets: diffik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rl_games - physics: ovphysx - presets: joint_pos -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rl_games - physics: ovphysx - presets: newton_ik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rsl_rl - physics: isaacsim_physx -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rsl_rl - physics: isaacsim_physx - presets: diffik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rsl_rl - physics: isaacsim_physx - presets: joint_pos -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rsl_rl - physics: isaacsim_physx - presets: newton_ik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rsl_rl - physics: newton_kamino - presets: diffik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rsl_rl - physics: newton_kamino - presets: joint_pos -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rsl_rl - physics: newton_kamino - presets: newton_ik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - presets: diffik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - presets: joint_pos -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - presets: newton_ik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rsl_rl - physics: ovphysx - presets: diffik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rsl_rl - physics: ovphysx - presets: joint_pos -- task_id: Isaac-Reach-Franka - scope: core - rl_library: rsl_rl - physics: ovphysx - presets: newton_ik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: skrl - physics: isaacsim_physx -- task_id: Isaac-Reach-Franka - scope: core - rl_library: skrl - physics: isaacsim_physx - presets: diffik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: skrl - physics: isaacsim_physx - presets: joint_pos -- task_id: Isaac-Reach-Franka - scope: core - rl_library: skrl - physics: isaacsim_physx - presets: newton_ik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: skrl - physics: newton_kamino -- task_id: Isaac-Reach-Franka - scope: core - rl_library: skrl - physics: newton_kamino - presets: diffik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: skrl - physics: newton_kamino - presets: joint_pos -- task_id: Isaac-Reach-Franka - scope: core - rl_library: skrl - physics: newton_kamino - presets: newton_ik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Reach-Franka - scope: core - rl_library: skrl - physics: newton_mjwarp - presets: diffik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: skrl - physics: newton_mjwarp - presets: joint_pos -- task_id: Isaac-Reach-Franka - scope: core - rl_library: skrl - physics: newton_mjwarp - presets: newton_ik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: skrl - physics: ovphysx -- task_id: Isaac-Reach-Franka - scope: core - rl_library: skrl - physics: ovphysx - presets: diffik -- task_id: Isaac-Reach-Franka - scope: core - rl_library: skrl - physics: ovphysx - presets: joint_pos -- task_id: Isaac-Reach-Franka - scope: core - rl_library: skrl - physics: ovphysx - presets: newton_ik -- task_id: Isaac-Reach-Franka-OSC - scope: core - rl_library: rsl_rl - physics: isaacsim_physx -- task_id: Isaac-Reach-Franka-OSC - scope: core - rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Reach-Franka-OSC - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Reach-Franka-OSC - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Reach-UR10 - scope: core - rl_library: rl_games - physics: isaacsim_physx -- task_id: Isaac-Reach-UR10 - scope: core - rl_library: rl_games - physics: newton_kamino -- task_id: Isaac-Reach-UR10 - scope: core - rl_library: rl_games - physics: newton_mjwarp -- task_id: Isaac-Reach-UR10 - scope: core - rl_library: rl_games - physics: ovphysx -- task_id: Isaac-Reach-UR10 - scope: core - rl_library: rsl_rl - physics: isaacsim_physx -- task_id: Isaac-Reach-UR10 - scope: core - rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Reach-UR10 - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Reach-UR10 - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Reach-UR10 - scope: core - rl_library: skrl - physics: isaacsim_physx -- task_id: Isaac-Reach-UR10 - scope: core - rl_library: skrl - physics: newton_kamino -- task_id: Isaac-Reach-UR10 - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Reach-UR10 - scope: core - rl_library: skrl - physics: ovphysx -- task_id: Isaac-Reorient-Cube-Allegro - scope: core - rl_library: rl_games -- task_id: Isaac-Reorient-Cube-Allegro - scope: core - rl_library: rsl_rl -- task_id: Isaac-Reorient-Cube-Allegro - scope: core - rl_library: skrl -- task_id: Isaac-Reorient-Cube-Allegro-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Allegro-Direct - scope: core - rl_library: rl_games - physics: ovphysx -- task_id: Isaac-Reorient-Cube-Allegro-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Allegro-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Reorient-Cube-Allegro-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Allegro-Direct - scope: core - rl_library: skrl - physics: ovphysx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: isaacsim_rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: newton_renderer - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: ovrtx - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_kamino - renderer: rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: newton_renderer -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: newton_renderer - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: newton_renderer - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: newton_renderer - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: newton_renderer - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: newton_renderer - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: ovrtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: ovrtx - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: ovrtx - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: ovrtx - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: ovrtx - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: ovrtx - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: rtx - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: rtx - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: rtx - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: rtx - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: rtx - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: isaacsim_rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: isaacsim_rtx - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: isaacsim_rtx - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: isaacsim_rtx - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: isaacsim_rtx - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: isaacsim_rtx - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: newton_renderer -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: newton_renderer - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: newton_renderer - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: newton_renderer - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: newton_renderer - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: newton_renderer - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: ovrtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: ovrtx - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: ovrtx - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: ovrtx - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: ovrtx - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: ovrtx - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: ovrtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: ovrtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: ovrtx - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: rtx - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: rtx - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: rtx - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: rtx - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: rtx - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rl_games - physics: ovphysx - renderer: rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: isaacsim_rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: isaacsim_rtx - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: isaacsim_rtx - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: isaacsim_rtx - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: isaacsim_rtx - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: isaacsim_rtx - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: isaacsim_rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: newton_renderer -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: newton_renderer - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: newton_renderer - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: newton_renderer - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: newton_renderer - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: newton_renderer - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: newton_renderer - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: newton_renderer - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: newton_renderer - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: ovrtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: ovrtx - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: ovrtx - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: ovrtx - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: ovrtx - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: ovrtx - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: ovrtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: ovrtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: ovrtx - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: rtx - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: rtx - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: rtx - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: rtx - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: rtx - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino - renderer: rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: albedo -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: depth -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: full -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: rgb -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: semantic_segmentation -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: simple_shading_constant_diffuse -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: simple_shading_diffuse_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Camera-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: simple_shading_full_mdl -- task_id: Isaac-Reorient-Cube-Shadow-Direct - scope: core - rl_library: rl_games - physics: newton_kamino -- task_id: Isaac-Reorient-Cube-Shadow-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Shadow-Direct - scope: core - rl_library: rl_games - physics: ovphysx -- task_id: Isaac-Reorient-Cube-Shadow-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Reorient-Cube-Shadow-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Shadow-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Reorient-Cube-Shadow-Direct - scope: core - rl_library: skrl - physics: newton_kamino -- task_id: Isaac-Reorient-Cube-Shadow-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Shadow-Direct - scope: core - rl_library: skrl - physics: ovphysx -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct - scope: core - rl_library: rl_games - physics: newton_kamino -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct - scope: core - rl_library: rl_games - physics: ovphysx -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct - scope: core - rl_library: skrl - physics: newton_kamino -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct - scope: core - rl_library: skrl - physics: ovphysx -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct - scope: core - rl_library: rl_games - physics: newton_kamino -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct - scope: core - rl_library: rl_games - physics: ovphysx -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct - scope: core - rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Reorient-Franka - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Reorient-Franka - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - presets: cube -- task_id: Isaac-Reorient-Franka - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - presets: shapes -- task_id: Isaac-Reorient-Franka - scope: core - rl_library: rsl_rl - physics: physx -- task_id: Isaac-Reorient-Franka - scope: core - rl_library: rsl_rl - physics: physx - presets: cube -- task_id: Isaac-Reorient-Franka - scope: core - rl_library: rsl_rl - physics: physx - presets: shapes -- task_id: Isaac-Reorient-KukaAllegro - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Reorient-KukaAllegro - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - presets: cube -- task_id: Isaac-Reorient-KukaAllegro - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - presets: shapes -- task_id: Isaac-Reorient-KukaAllegro - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Reorient-KukaAllegro - scope: core - rl_library: rsl_rl - physics: ovphysx - presets: cube -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: albedo128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: albedo256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: albedo64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: cube -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: depth128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: depth256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: depth64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: duo_camera -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: rgb128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: rgb256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: rgb64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: semantic_segmentation128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: semantic_segmentation256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: semantic_segmentation64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: shapes -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_full_mdl128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_full_mdl256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: simple_shading_full_mdl64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: isaacsim_rtx - presets: single_camera -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: albedo128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: albedo256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: albedo64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: cube -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: depth128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: depth256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: depth64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: duo_camera -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: rgb128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: rgb256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: rgb64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: semantic_segmentation128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: semantic_segmentation256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: semantic_segmentation64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: shapes -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_constant_diffuse128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_constant_diffuse256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_constant_diffuse64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_diffuse_mdl128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_diffuse_mdl256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_diffuse_mdl64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_full_mdl128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_full_mdl256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: simple_shading_full_mdl64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: newton_renderer - presets: single_camera -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: albedo128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: albedo256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: albedo64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: cube -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: depth128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: depth256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: depth64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: duo_camera -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: rgb128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: rgb256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: rgb64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: semantic_segmentation128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: semantic_segmentation256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: semantic_segmentation64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: shapes -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_constant_diffuse128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_constant_diffuse256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_constant_diffuse64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_diffuse_mdl128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_diffuse_mdl256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_diffuse_mdl64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_full_mdl128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_full_mdl256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: simple_shading_full_mdl64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: ovrtx - presets: single_camera -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: albedo128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: albedo256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: albedo64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: cube -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: depth128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: depth256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: depth64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: duo_camera -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: rgb128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: rgb256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: rgb64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: semantic_segmentation128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: semantic_segmentation256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: semantic_segmentation64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: shapes -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_constant_diffuse128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_constant_diffuse256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_constant_diffuse64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_diffuse_mdl128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_diffuse_mdl256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_diffuse_mdl64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_full_mdl128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_full_mdl256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: simple_shading_full_mdl64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: newton_mjwarp - renderer: rtx - presets: single_camera -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: albedo128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: albedo256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: albedo64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: cube -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: depth128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: depth256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: depth64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: duo_camera -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: rgb128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: rgb256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: rgb64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: semantic_segmentation128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: semantic_segmentation256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: semantic_segmentation64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_constant_diffuse64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_diffuse_mdl64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_full_mdl128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_full_mdl256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: simple_shading_full_mdl64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: isaacsim_rtx - presets: single_camera -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: albedo128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: albedo256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: albedo64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: cube -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: depth128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: depth256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: depth64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: duo_camera -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: rgb128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: rgb256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: rgb64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: semantic_segmentation128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: semantic_segmentation256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: semantic_segmentation64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_constant_diffuse128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_constant_diffuse256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_constant_diffuse64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_diffuse_mdl128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_diffuse_mdl256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_diffuse_mdl64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_full_mdl128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_full_mdl256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: simple_shading_full_mdl64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: newton_renderer - presets: single_camera -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: albedo128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: albedo256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: albedo64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: cube -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: depth128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: depth256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: depth64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: duo_camera -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: rgb128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: rgb256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: rgb64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: semantic_segmentation128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: semantic_segmentation256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: semantic_segmentation64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_constant_diffuse128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_constant_diffuse256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_constant_diffuse64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_diffuse_mdl128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_diffuse_mdl256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_diffuse_mdl64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_full_mdl128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_full_mdl256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: simple_shading_full_mdl64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: ovrtx - presets: single_camera -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: albedo128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: albedo256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: albedo64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: cube -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: depth128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: depth256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: depth64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: duo_camera -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: rgb128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: rgb256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: rgb64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: semantic_segmentation128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: semantic_segmentation256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: semantic_segmentation64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: simple_shading_constant_diffuse128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: simple_shading_constant_diffuse256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: simple_shading_constant_diffuse64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: simple_shading_diffuse_mdl128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: simple_shading_diffuse_mdl256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: simple_shading_diffuse_mdl64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: simple_shading_full_mdl128 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: simple_shading_full_mdl256 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: simple_shading_full_mdl64 -- task_id: Isaac-Reorient-KukaAllegro-Camera - scope: core - rl_library: rsl_rl - physics: ovphysx - renderer: rtx - presets: single_camera -- task_id: Isaac-Shadow-Handover-Direct - scope: core - rl_library: rl_games - physics: newton_mjwarp -- task_id: Isaac-Shadow-Handover-Direct - scope: core - rl_library: rl_games - physics: ovphysx -- task_id: Isaac-Shadow-Handover-Direct - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Shadow-Handover-Direct - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Shadow-Handover-Direct - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Shadow-Handover-Direct - scope: core - rl_library: skrl - physics: ovphysx -- task_id: Isaac-Velocity-Flat-AnymalD - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-AnymalD - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Velocity-Flat-AnymalD - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-AnymalD - scope: core - rl_library: skrl - physics: ovphysx -- task_id: Isaac-Velocity-Flat-Cassie - scope: core - rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Velocity-Flat-Cassie - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-Cassie - scope: core - rl_library: rsl_rl - physics: physx -- task_id: Isaac-Velocity-Flat-Cassie - scope: core - rl_library: skrl - physics: newton_kamino -- task_id: Isaac-Velocity-Flat-Cassie - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-Cassie - scope: core - rl_library: skrl - physics: physx -- task_id: Isaac-Velocity-Flat-G1 - scope: core - rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Velocity-Flat-G1 - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-G1 - scope: core - rl_library: skrl - physics: newton_kamino -- task_id: Isaac-Velocity-Flat-G1 - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-H1 - scope: core - rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Velocity-Flat-H1 - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-H1 - scope: core - rl_library: rsl_rl - physics: physx -- task_id: Isaac-Velocity-Flat-H1 - scope: core - rl_library: skrl - physics: newton_kamino -- task_id: Isaac-Velocity-Flat-H1 - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-H1 - scope: core - rl_library: skrl - physics: physx -- task_id: Isaac-Velocity-Flat-Spot - scope: core - rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Velocity-Flat-Spot - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-Spot - scope: core - rl_library: skrl - physics: newton_kamino -- task_id: Isaac-Velocity-Flat-Spot - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-UnitreeGo2 - scope: core - rl_library: rsl_rl - physics: newton_kamino -- task_id: Isaac-Velocity-Flat-UnitreeGo2 - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-UnitreeGo2 - scope: core - rl_library: rsl_rl - physics: physx -- task_id: Isaac-Velocity-Flat-UnitreeGo2 - scope: core - rl_library: skrl - physics: newton_kamino -- task_id: Isaac-Velocity-Flat-UnitreeGo2 - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Flat-UnitreeGo2 - scope: core - rl_library: skrl - physics: physx -- task_id: Isaac-Velocity-Rough-AnymalD - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Rough-AnymalD - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Velocity-Rough-AnymalD - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Rough-AnymalD - scope: core - rl_library: skrl - physics: ovphysx -- task_id: Isaac-Velocity-Rough-Cassie - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Rough-Cassie - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Velocity-Rough-Cassie - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Rough-Cassie - scope: core - rl_library: skrl - physics: ovphysx -- task_id: Isaac-Velocity-Rough-G1 - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Rough-G1 - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Velocity-Rough-G1 - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Rough-G1 - scope: core - rl_library: skrl - physics: ovphysx -- task_id: Isaac-Velocity-Rough-H1 - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Rough-H1 - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Velocity-Rough-H1 - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Rough-H1 - scope: core - rl_library: skrl - physics: ovphysx -- task_id: Isaac-Velocity-Rough-UnitreeGo2 - scope: core - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Rough-UnitreeGo2 - scope: core - rl_library: rsl_rl - physics: ovphysx -- task_id: Isaac-Velocity-Rough-UnitreeGo2 - scope: core - rl_library: skrl - physics: newton_mjwarp -- task_id: Isaac-Velocity-Rough-UnitreeGo2 - scope: core - rl_library: skrl - physics: ovphysx -- task_id: IsaacContrib-AutoMate-Assembly-Direct - scope: contrib - rl_library: rl_games -- task_id: IsaacContrib-AutoMate-Disassembly-Direct - scope: contrib - rl_library: rl_games -- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct - scope: contrib - rl_library: skrl -- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct - scope: contrib - rl_library: skrl - presets: box_box -- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct - scope: contrib - rl_library: skrl - presets: box_discrete -- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct - scope: contrib - rl_library: skrl - presets: box_multidiscrete -- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct - scope: contrib - rl_library: skrl - presets: dict_box -- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct - scope: contrib - rl_library: skrl - presets: dict_discrete -- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct - scope: contrib - rl_library: skrl - presets: dict_multidiscrete -- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct - scope: contrib - rl_library: skrl - presets: tuple_box -- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct - scope: contrib - rl_library: skrl - presets: tuple_discrete -- task_id: IsaacContrib-Cartpole-Camera-Showcase-Direct - scope: contrib - rl_library: skrl - presets: tuple_multidiscrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: isaacsim_physx -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: isaacsim_physx - presets: box_box -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: isaacsim_physx - presets: box_discrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: isaacsim_physx - presets: box_multidiscrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: isaacsim_physx - presets: dict_box -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: isaacsim_physx - presets: dict_discrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: isaacsim_physx - presets: dict_multidiscrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: isaacsim_physx - presets: discrete_box -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: isaacsim_physx - presets: discrete_discrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: isaacsim_physx - presets: discrete_multidiscrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: isaacsim_physx - presets: multidiscrete_box -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: isaacsim_physx - presets: multidiscrete_discrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: isaacsim_physx - presets: multidiscrete_multidiscrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: isaacsim_physx - presets: tuple_box -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: isaacsim_physx - presets: tuple_discrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: isaacsim_physx - presets: tuple_multidiscrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_kamino -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_kamino - presets: box_box -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_kamino - presets: box_discrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_kamino - presets: box_multidiscrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_kamino - presets: dict_box -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_kamino - presets: dict_discrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_kamino - presets: dict_multidiscrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_kamino - presets: discrete_box -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_kamino - presets: discrete_discrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_kamino - presets: discrete_multidiscrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_kamino - presets: multidiscrete_box -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_kamino - presets: multidiscrete_discrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_kamino - presets: multidiscrete_multidiscrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_kamino - presets: tuple_box -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_kamino - presets: tuple_discrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_kamino - presets: tuple_multidiscrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_mjwarp -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_mjwarp - presets: box_box -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_mjwarp - presets: box_discrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_mjwarp - presets: box_multidiscrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_mjwarp - presets: dict_box -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_mjwarp - presets: dict_discrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_mjwarp - presets: dict_multidiscrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_mjwarp - presets: discrete_box -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_mjwarp - presets: discrete_discrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_mjwarp - presets: discrete_multidiscrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_mjwarp - presets: multidiscrete_box -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_mjwarp - presets: multidiscrete_discrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_mjwarp - presets: multidiscrete_multidiscrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_mjwarp - presets: tuple_box -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_mjwarp - presets: tuple_discrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: newton_mjwarp - presets: tuple_multidiscrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: ovphysx -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: ovphysx - presets: box_box -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: ovphysx - presets: box_discrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: ovphysx - presets: box_multidiscrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: ovphysx - presets: dict_box -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: ovphysx - presets: dict_discrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: ovphysx - presets: dict_multidiscrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: ovphysx - presets: discrete_box -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: ovphysx - presets: discrete_discrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: ovphysx - presets: discrete_multidiscrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: ovphysx - presets: multidiscrete_box -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: ovphysx - presets: multidiscrete_discrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: ovphysx - presets: multidiscrete_multidiscrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: ovphysx - presets: tuple_box -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: ovphysx - presets: tuple_discrete -- task_id: IsaacContrib-Cartpole-Showcase-Direct - scope: contrib - rl_library: skrl - physics: ovphysx - presets: tuple_multidiscrete -- task_id: IsaacContrib-Deploy-GearAssembly-Rizon4s-Grav - scope: contrib - rl_library: rsl_rl -- task_id: IsaacContrib-Deploy-GearAssembly-Rizon4s-Grav-ROS-Inference - scope: contrib - rl_library: rsl_rl -- task_id: IsaacContrib-Deploy-GearAssembly-UR10e-2F140 - scope: contrib - rl_library: rsl_rl -- task_id: IsaacContrib-Deploy-GearAssembly-UR10e-2F140-ROS-Inference - scope: contrib - rl_library: rsl_rl -- task_id: IsaacContrib-Deploy-GearAssembly-UR10e-2F85 - scope: contrib - rl_library: rsl_rl -- task_id: IsaacContrib-Deploy-GearAssembly-UR10e-2F85-ROS-Inference - scope: contrib - rl_library: rsl_rl -- task_id: IsaacContrib-Deploy-Reach-Rizon4s - scope: contrib - rl_library: rsl_rl -- task_id: IsaacContrib-Deploy-Reach-Rizon4s-ROS-Inference - scope: contrib - rl_library: rsl_rl -- task_id: IsaacContrib-Deploy-Reach-UR10e - scope: contrib - rl_library: rsl_rl -- task_id: IsaacContrib-Deploy-Reach-UR10e-ROS-Inference - scope: contrib - rl_library: rsl_rl -- task_id: IsaacContrib-DrLegs-HoldPose - scope: contrib - rl_library: rsl_rl - physics: newton_kamino -- task_id: IsaacContrib-DrLegs-HoldPose - scope: contrib - rl_library: rsl_rl - physics: physx -- task_id: IsaacContrib-DrLegs-Walk - scope: contrib - rl_library: rsl_rl - physics: newton_kamino -- task_id: IsaacContrib-DrLegs-Walk - scope: contrib - rl_library: rsl_rl - physics: physx -- task_id: IsaacContrib-Factory-GearMesh-Direct - scope: contrib - rl_library: rl_games -- task_id: IsaacContrib-Factory-NutThread-Direct - scope: contrib - rl_library: rl_games -- task_id: IsaacContrib-Factory-PegInsert-Direct - scope: contrib - rl_library: rl_games -- task_id: IsaacContrib-Forge-GearMesh-Direct - scope: contrib - rl_library: rl_games -- task_id: IsaacContrib-Forge-NutThread-Direct - scope: contrib - rl_library: rl_games -- task_id: IsaacContrib-Forge-PegInsert-Direct - scope: contrib - rl_library: rl_games -- task_id: IsaacContrib-Humanoid-AMP-Dance-Direct - scope: contrib - rl_library: skrl -- task_id: IsaacContrib-Humanoid-AMP-Run-Direct - scope: contrib - rl_library: skrl -- task_id: IsaacContrib-Humanoid-AMP-Walk-Direct - scope: contrib - rl_library: skrl -- task_id: IsaacContrib-Lift-Cube-OpenArm - scope: contrib - rl_library: rl_games -- task_id: IsaacContrib-Lift-Cube-OpenArm - scope: contrib - rl_library: rsl_rl -- task_id: IsaacContrib-Navigation-3DObstacles-ARL-Robot-1 - scope: contrib - rl_library: rl_games -- task_id: IsaacContrib-Navigation-3DObstacles-ARL-Robot-1 - scope: contrib - rl_library: rsl_rl -- task_id: IsaacContrib-Navigation-3DObstacles-ARL-Robot-1 - scope: contrib - rl_library: skrl -- task_id: IsaacContrib-Navigation-Flat-AnymalC - scope: contrib - rl_library: rsl_rl -- task_id: IsaacContrib-Navigation-Flat-AnymalC - scope: contrib - rl_library: skrl -- task_id: IsaacContrib-Open-Drawer-OpenArm - scope: contrib - rl_library: rl_games -- task_id: IsaacContrib-Open-Drawer-OpenArm - scope: contrib - rl_library: rsl_rl -- task_id: IsaacContrib-Reach-OpenArm - scope: contrib - rl_library: rl_games -- task_id: IsaacContrib-Reach-OpenArm - scope: contrib - rl_library: rsl_rl -- task_id: IsaacContrib-Reach-OpenArm - scope: contrib - rl_library: skrl -- task_id: IsaacContrib-Reach-OpenArmBi - scope: contrib - rl_library: rl_games -- task_id: IsaacContrib-Reach-OpenArmBi - scope: contrib - rl_library: rsl_rl -- task_id: IsaacContrib-TrackPositionNoObstacles-ARL-Robot-1 - scope: contrib - rl_library: rl_games -- task_id: IsaacContrib-TrackPositionNoObstacles-ARL-Robot-1 - scope: contrib - rl_library: rsl_rl -- task_id: IsaacContrib-TrackPositionNoObstacles-ARL-Robot-1 - scope: contrib - rl_library: skrl -- task_id: IsaacContrib-Tracking-LocoManip-Digit - scope: contrib - rl_library: rsl_rl - physics: physx -- task_id: IsaacContrib-Velocity-Flat-AnymalB - scope: contrib - rl_library: rsl_rl - physics: newton_kamino -- task_id: IsaacContrib-Velocity-Flat-AnymalB - scope: contrib - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: IsaacContrib-Velocity-Flat-AnymalB - scope: contrib - rl_library: rsl_rl - physics: physx -- task_id: IsaacContrib-Velocity-Flat-AnymalB - scope: contrib - rl_library: skrl - physics: newton_kamino -- task_id: IsaacContrib-Velocity-Flat-AnymalB - scope: contrib - rl_library: skrl - physics: newton_mjwarp -- task_id: IsaacContrib-Velocity-Flat-AnymalB - scope: contrib - rl_library: skrl - physics: physx -- task_id: IsaacContrib-Velocity-Flat-AnymalC - scope: contrib - rl_library: rl_games - physics: newton_kamino -- task_id: IsaacContrib-Velocity-Flat-AnymalC - scope: contrib - rl_library: rl_games - physics: newton_mjwarp -- task_id: IsaacContrib-Velocity-Flat-AnymalC - scope: contrib - rl_library: rl_games - physics: physx -- task_id: IsaacContrib-Velocity-Flat-AnymalC - scope: contrib - rl_library: rsl_rl - physics: newton_kamino -- task_id: IsaacContrib-Velocity-Flat-AnymalC - scope: contrib - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: IsaacContrib-Velocity-Flat-AnymalC - scope: contrib - rl_library: rsl_rl - physics: physx -- task_id: IsaacContrib-Velocity-Flat-AnymalC - scope: contrib - rl_library: skrl - physics: newton_kamino -- task_id: IsaacContrib-Velocity-Flat-AnymalC - scope: contrib - rl_library: skrl - physics: newton_mjwarp -- task_id: IsaacContrib-Velocity-Flat-AnymalC - scope: contrib - rl_library: skrl - physics: physx -- task_id: IsaacContrib-Velocity-Flat-AnymalC-Direct - scope: contrib - rl_library: rl_games -- task_id: IsaacContrib-Velocity-Flat-AnymalC-Direct - scope: contrib - rl_library: rsl_rl -- task_id: IsaacContrib-Velocity-Flat-AnymalC-Direct - scope: contrib - rl_library: skrl -- task_id: IsaacContrib-Velocity-Flat-Digit - scope: contrib - rl_library: rsl_rl - physics: physx -- task_id: IsaacContrib-Velocity-Flat-UnitreeA1 - scope: contrib - rl_library: rsl_rl - physics: newton_kamino -- task_id: IsaacContrib-Velocity-Flat-UnitreeA1 - scope: contrib - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: IsaacContrib-Velocity-Flat-UnitreeA1 - scope: contrib - rl_library: rsl_rl - physics: physx -- task_id: IsaacContrib-Velocity-Flat-UnitreeA1 - scope: contrib - rl_library: sb3 - physics: newton_kamino -- task_id: IsaacContrib-Velocity-Flat-UnitreeA1 - scope: contrib - rl_library: sb3 - physics: newton_mjwarp -- task_id: IsaacContrib-Velocity-Flat-UnitreeA1 - scope: contrib - rl_library: sb3 - physics: physx -- task_id: IsaacContrib-Velocity-Flat-UnitreeA1 - scope: contrib - rl_library: skrl - physics: newton_kamino -- task_id: IsaacContrib-Velocity-Flat-UnitreeA1 - scope: contrib - rl_library: skrl - physics: newton_mjwarp -- task_id: IsaacContrib-Velocity-Flat-UnitreeA1 - scope: contrib - rl_library: skrl - physics: physx -- task_id: IsaacContrib-Velocity-Flat-UnitreeGo1 - scope: contrib - rl_library: rsl_rl - physics: newton_kamino -- task_id: IsaacContrib-Velocity-Flat-UnitreeGo1 - scope: contrib - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: IsaacContrib-Velocity-Flat-UnitreeGo1 - scope: contrib - rl_library: skrl - physics: newton_kamino -- task_id: IsaacContrib-Velocity-Flat-UnitreeGo1 - scope: contrib - rl_library: skrl - physics: newton_mjwarp -- task_id: IsaacContrib-Velocity-Rough-AnymalB - scope: contrib - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: IsaacContrib-Velocity-Rough-AnymalB - scope: contrib - rl_library: rsl_rl - physics: ovphysx -- task_id: IsaacContrib-Velocity-Rough-AnymalB - scope: contrib - rl_library: skrl - physics: newton_mjwarp -- task_id: IsaacContrib-Velocity-Rough-AnymalB - scope: contrib - rl_library: skrl - physics: ovphysx -- task_id: IsaacContrib-Velocity-Rough-AnymalC - scope: contrib - rl_library: rl_games - physics: newton_mjwarp -- task_id: IsaacContrib-Velocity-Rough-AnymalC - scope: contrib - rl_library: rl_games - physics: ovphysx -- task_id: IsaacContrib-Velocity-Rough-AnymalC - scope: contrib - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: IsaacContrib-Velocity-Rough-AnymalC - scope: contrib - rl_library: rsl_rl - physics: ovphysx -- task_id: IsaacContrib-Velocity-Rough-AnymalC - scope: contrib - rl_library: skrl - physics: newton_mjwarp -- task_id: IsaacContrib-Velocity-Rough-AnymalC - scope: contrib - rl_library: skrl - physics: ovphysx -- task_id: IsaacContrib-Velocity-Rough-AnymalC-Direct - scope: contrib - rl_library: rl_games -- task_id: IsaacContrib-Velocity-Rough-AnymalC-Direct - scope: contrib - rl_library: rsl_rl -- task_id: IsaacContrib-Velocity-Rough-AnymalC-Direct - scope: contrib - rl_library: skrl -- task_id: IsaacContrib-Velocity-Rough-Digit - scope: contrib - rl_library: rsl_rl - physics: physx -- task_id: IsaacContrib-Velocity-Rough-UnitreeA1 - scope: contrib - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: IsaacContrib-Velocity-Rough-UnitreeA1 - scope: contrib - rl_library: rsl_rl - physics: ovphysx -- task_id: IsaacContrib-Velocity-Rough-UnitreeA1 - scope: contrib - rl_library: sb3 - physics: newton_mjwarp -- task_id: IsaacContrib-Velocity-Rough-UnitreeA1 - scope: contrib - rl_library: sb3 - physics: ovphysx -- task_id: IsaacContrib-Velocity-Rough-UnitreeA1 - scope: contrib - rl_library: skrl - physics: newton_mjwarp -- task_id: IsaacContrib-Velocity-Rough-UnitreeA1 - scope: contrib - rl_library: skrl - physics: ovphysx -- task_id: IsaacContrib-Velocity-Rough-UnitreeGo1 - scope: contrib - rl_library: rsl_rl - physics: newton_mjwarp -- task_id: IsaacContrib-Velocity-Rough-UnitreeGo1 - scope: contrib - rl_library: rsl_rl - physics: ovphysx -- task_id: IsaacContrib-Velocity-Rough-UnitreeGo1 - scope: contrib - rl_library: skrl - physics: newton_mjwarp -- task_id: IsaacContrib-Velocity-Rough-UnitreeGo1 - scope: contrib - rl_library: skrl - physics: ovphysx diff --git a/tools/odin/discover.py b/tools/odin/discover.py index 9cef9998afb0..1e3c5ba2ed4e 100644 --- a/tools/odin/discover.py +++ b/tools/odin/discover.py @@ -384,7 +384,8 @@ def write_task_list(path: Path, rows: list[dict[str, Any]], *, meta: dict[str, A 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. + :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 = ( diff --git a/tools/odin/tests/test_cli.py b/tools/odin/tests/test_cli.py index fa72902053ff..7a3de6bb1a55 100644 --- a/tools/odin/tests/test_cli.py +++ b/tools/odin/tests/test_cli.py @@ -20,7 +20,17 @@ @pytest.fixture def workspace(tmp_path: Path) -> Path: shutil.copy(_ODIN_ROOT / "config" / "odin.yaml", tmp_path / "odin.yaml") - shutil.copy(_ODIN_ROOT / "config" / "tasks.yaml", tmp_path / "tasks.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 @@ -543,3 +553,26 @@ def data_download(self, remote_uri, dest_dir): 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_plan.py b/tools/odin/tests/test_plan.py index 062945e6ca24..8e4ce53fdb34 100644 --- a/tools/odin/tests/test_plan.py +++ b/tools/odin/tests/test_plan.py @@ -112,13 +112,6 @@ def test_load_task_rows_requires_a_tasks_list(tmp_path: Path) -> None: load_task_rows(path) -def test_shipped_seed_list_plans_cleanly() -> None: - shipped = Path(__file__).resolve().parents[1] / "config" / "tasks.yaml" - rows = plan_rows(task_rows=load_task_rows(shipped), seeds=[42]) - assert rows - assert all(r.osmo_task_name for r in rows) - - def test_metadata_overlay_fills_missing_sizing() -> None: metadata = [ {