Rebuild Odin as an OSMO-only benchmark dispatcher

.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

.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

.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

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" }],

source/isaaclab/changelog.d/antoiner-odin-v2-play-video.rst

@@ -0,0 +1,22 @@
+Added
+^^^^^
+
+* Added ``--video`` and ``--video_length`` to the RSL-RL, RL-Games, SKRL, and SB3 play
+  benchmark adapters, recording the rollout and populating
+  :attr:`~isaaclab.benchmark.schema.PlayBundle.video_path`. The field and
+  :func:`~isaaclab.benchmark.builders.build_play_bundle`'s ``video_path`` argument already
+  existed, but no adapter could set them, so camera tasks were benchmarked headless.
+* Added :func:`~isaaclab_rl.entrypoints.common.add_video_args`,
+  :func:`~isaaclab_rl.entrypoints.common.wrap_record_video_play`, and
+  :func:`~isaaclab_rl.entrypoints.common.play_video_dir`. Recording starts at the first
+  step rather than on a periodic trigger, since a play run is a single bounded rollout;
+  ``--video_interval`` therefore stays training-only.
+
+Fixed
+^^^^^
+
+* Fixed :attr:`~isaaclab.benchmark.schema.TrainingBundle.checkpoint_path` being reported as
+  ``None`` by the RSL-RL, RL-Games, and SKRL training benchmarks. The field is now populated
+  from the checkpoint the run actually wrote, so downstream play workflows can roll out a
+  freshly trained policy without reconstructing the path. The search matches every library's
+  naming, including SKRL's ``agent_<tag>.pt`` and ``best_agent.pt``.

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)

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(

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)

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(

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)

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)

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,
             )
 

source/isaaclab/test/benchmark/test_play_video.py

@@ -0,0 +1,123 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Video recording on the play benchmark adapters.
+
+Pins the wiring that lets an adapter populate ``PlayBundle.video_path``: without
+it a camera task is benchmarked headless and the schema field stays empty.
+"""
+
+from __future__ import annotations
+
+import argparse
+from pathlib import Path
+
+import pytest
+
+from isaaclab_rl.entrypoints.common import add_video_args, latest_checkpoint_path, play_video_dir
+
+_BACKENDS = ("rsl_rl", "rl_games", "skrl", "sb3")
+# <repo>/source/isaaclab/test/benchmark/ -> <repo>/source/isaaclab/isaaclab/...
+_ADAPTER_ROOT = Path(__file__).resolve().parents[2] / "isaaclab" / "benchmark" / "entrypoints" / "backends"
+
+
+def _adapter_source(backend: str) -> str:
+    return (_ADAPTER_ROOT / backend / f"benchmark_play_{backend}.py").read_text()
+
+
+def test_play_video_args_omit_the_training_interval() -> None:
+    parser = argparse.ArgumentParser()
+    add_video_args(parser, include_interval=False)
+    args = parser.parse_args([])
+
+    assert args.video is False
+    assert args.video_length == 200
+    assert not hasattr(args, "video_interval")
+
+
+def test_training_video_args_keep_the_interval() -> None:
+    parser = argparse.ArgumentParser()
+    add_video_args(parser, include_interval=True)
+    assert parser.parse_args([]).video_interval == 2000
+
+
+def test_video_dir_is_none_without_the_flag() -> None:
+    args = argparse.Namespace(video=False)
+    assert play_video_dir("/out", args) is None
+
+
+def test_video_dir_is_reported_when_requested() -> None:
+    args = argparse.Namespace(video=True)
+    assert play_video_dir("/out", args) == "/out/videos/play"
+
+
+def test_video_dir_tolerates_a_namespace_without_the_flag() -> None:
+    # Callers that never added the argument must not raise.
+    assert play_video_dir("/out", argparse.Namespace()) is None
+
+
+@pytest.mark.parametrize("backend", _BACKENDS)
+def test_adapter_wires_video(backend: str) -> None:
+    source = _adapter_source(backend)
+    assert "add_video_args(parser, include_interval=False)" in source
+    # Without enabled cameras the env renders nothing and the recording is blank.
+    assert "enable_cameras_for_video" in source
+    # RecordVideo needs a render mode; gym.make defaults to None.
+    assert 'render_mode="rgb_array"' in source
+    assert "wrap_record_video_play" in source
+    # The schema field is useless if nothing ever sets it.
+    assert "video_path=_common.play_video_dir(" in source
+
+
+@pytest.mark.parametrize("backend", ("rsl_rl", "rl_games", "skrl"))
+def test_training_reports_the_checkpoint_it_wrote(backend: str) -> None:
+    # A chained play step reads this field; a hardcoded None leaves it nothing.
+    source = (_ADAPTER_ROOT / backend / f"benchmark_train_{backend}.py").read_text()
+    assert "latest_checkpoint_path(" in source
+    assert "checkpoint_path = None" not in source
+    assert "checkpoint_path=None" not in source
+
+
+def test_latest_checkpoint_path_finds_the_newest(tmp_path: Path) -> None:
+    from isaaclab_rl.entrypoints.common import latest_checkpoint_path
+
+    nested = tmp_path / "nn"
+    nested.mkdir()
+    (nested / "model_100.pt").write_text("x")
+    older = nested / "model_100.pt"
+    newer = nested / "model_200.pt"
+    newer.write_text("x")
+    import os
+
+    os.utime(older, (1, 1))
+
+    assert latest_checkpoint_path(str(tmp_path)) == str(newer.resolve())
+
+
+def test_latest_checkpoint_path_is_none_when_nothing_was_written(tmp_path: Path) -> None:
+    from isaaclab_rl.entrypoints.common import latest_checkpoint_path
+
+    assert latest_checkpoint_path(str(tmp_path)) is None
+
+
+@pytest.mark.parametrize(
+    "filename",
+    [
+        "model_100.pt",  # rsl_rl
+        "agent_4800.pt",  # skrl
+        "best_agent.pt",  # skrl
+        "Isaac-Cartpole-Direct_4800.pt",  # skrl, named after the experiment
+        "last_Isaac_ep_50.pth",  # rl_games
+        "model.zip",  # sb3
+    ],
+)
+def test_latest_checkpoint_path_matches_every_library_naming(tmp_path: Path, filename: str) -> None:
+    # A `model_*.pt` glob matched rsl_rl only, so every SKRL row reported no
+    # checkpoint and a chained play step had nothing to roll out.
+    checkpoints = tmp_path / "checkpoints"
+    checkpoints.mkdir()
+    (checkpoints / filename).write_text("x")
+
+    assert latest_checkpoint_path(str(tmp_path)) == str((checkpoints / filename).resolve())

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."""

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

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.