Add osmo workflow for base env by xyao-nv · Pull Request #595 · isaac-sim/IsaacLab-Arena

xyao-nv · 2026-04-13T23:30:24Z

Summary

Arena non-gr00t scripts can run on OSMO.

Detailed description

Add a workflow template mirroring docker/run_docker.sh's environment so any task can be run in the base Arena container
Add a Python CLI script that renders the template and submits it via osmo workflow submit
User submits the worklfow by python osmo/launch_arena.py ... outside the docker env.

isaaclab-review-bot

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isaaclab-review-bot · 2026-04-13T23:34:01Z

+    # Override resources
+    python osmo/launch_arena.py --gpus 2 --platform ovx-l40 --memory 128Gi --pool isaac-dev-l40-03
+
+    # Dry run (print rendered YAML without submitting)


🟡 Warning: Broken shell continuation in docstring example

This line is missing a trailing backslash \\ to continue to --command on the next line. Without it, the shell interprets this as the complete command and tries to run --command ... as a separate command.

Suggested change

# Dry run (print rendered YAML without submitting)

--pool isaac-dev-l40-03 \\

greptile-apps · 2026-04-13T23:48:17Z

Greptile Summary

This PR adds an OSMO workflow integration for Isaac Lab Arena: a Jinja-style YAML template (arena_base.yaml) that mirrors the Docker entrypoint environment, and a Python CLI (launch_arena.py) that renders the template and submits it via osmo workflow submit. The overall approach is clean and the token substitution logic correctly leaves OSMO-native {{input:0}} references untouched.

Confidence Score: 5/5

Safe to merge; all findings are P2 style/robustness suggestions that don't block the primary workflow submission path.

No P0 or P1 defects in the current state of the code. The primary use case (default or custom command submission) works correctly. Issues found are a broken docstring example, absence of a guard for an unresolved template token in edge cases, a temp-file leak on subprocess exception, and a non-pinned image tag — all P2.

osmo/launch_arena.py — missing backslash in docstring and no guard when command extraction fails.

Important Files Changed

Filename	Overview
osmo/launch_arena.py	New CLI that reads arena_base.yaml, substitutes template tokens, writes a temp file, and calls `osmo workflow submit`; has a broken docstring example (missing `\`), no guard for an unresolved `{{ command }}` placeholder, and the temp file is not cleaned up on subprocess exception.
osmo/arena_base.yaml	New OSMO workflow template that mirrors the Docker entrypoint; image is pinned to `:latest` which hurts reproducibility, but the overall structure (credentials, env vars, LFS data copy, token substitution) looks correct.

Sequence Diagram

sequenceDiagram
    actor Dev as Developer
    participant CLI as launch_arena.py
    participant YAML as arena_base.yaml
    participant Tmp as /tmp/arena_*.yaml
    participant OSMO as osmo CLI
    participant Platform as OSMO Platform
    participant Container as Isaac Sim Container

    Dev->>CLI: python osmo/launch_arena.py --pool ... [--command ...]
    CLI->>YAML: read_text() (extract default command via regex if --command not given)
    CLI->>CLI: render_yaml(): strip default-values, substitute tokens
    CLI->>Tmp: write rendered YAML
    CLI->>OSMO: osmo workflow submit /tmp/arena_*.yaml [--pool] [--priority]
    OSMO->>Platform: submit workflow
    Platform->>Container: pull nvcr.io/.../isaaclab_arena:latest and start
    Container->>Container: bash /tmp/entry.sh (ldconfig, symlink, LFS copy)
    Container->>Container: execute command (e.g. policy_runner.py or pytest)
    Container-->>Platform: exit code
    Platform-->>OSMO: workflow result
    OSMO-->>CLI: returncode
    CLI->>Tmp: unlink temp file
    CLI-->>Dev: exit with returncode

_{Reviews (1): Last reviewed commit: "pre-commit" | Re-trigger Greptile}

greptile-apps · 2026-04-13T23:48:21Z

+        --pool isaac-dev-l40-03
+        --command 'ISAACLAB_ARENA_SUBPROCESS_TIMEOUT=900 \


Missing backslash breaks "Run tests" example

Line 23 is missing a trailing \, so the shell ends the command at --pool isaac-dev-l40-03 and treats the next line as a new (and unknown) top-level command. Anyone copy-pasting this will see an error rather than a working invocation.

Suggested change

--pool isaac-dev-l40-03

--command 'ISAACLAB_ARENA_SUBPROCESS_TIMEOUT=900 \

--pool isaac-dev-l40-03 \

--command 'ISAACLAB_ARENA_SUBPROCESS_TIMEOUT=900 \

greptile-apps · 2026-04-13T23:48:22Z

+    if command:
+        values["command"] = command


Silent {{ command }} placeholder if extraction fails

If command is falsy (empty string passed via --command '', or the regex on line 128 doesn't match), values["command"] is never set and the {{ command }} token at line 52 of arena_base.yaml remains verbatim in the rendered YAML. OSMO will then execute a bash script with {{ command }} as a literal line, producing a confusing error with no indication of the root cause.

Adding a guard here to catch the failure early would improve reliability:

if not command: print("Error: could not determine command to run. Pass --command explicitly.", file=sys.stderr) return 1 values["command"] = command

greptile-apps · 2026-04-13T23:48:23Z

+    with tempfile.NamedTemporaryFile(mode="w", suffix=".yaml", prefix="arena_", delete=False) as f:
+        f.write(rendered)
+        rendered_path = f.name
+
+    cmd = ["osmo", "workflow", "submit", rendered_path]
+    if args.pool:
+        cmd.extend(["--pool", args.pool])
+    if args.priority:
+        cmd.extend(["--priority", args.priority])
+
+    print(f"Submitting workflow '{args.workflow_name}':")
+    print(f"  {' '.join(cmd)}")
+    print(f"  (rendered from {args.yaml})\n")
+
+    result = subprocess.run(cmd)
+
+    Path(rendered_path).unlink(missing_ok=True)


Temp file leaked if subprocess.run raises

subprocess.run raises FileNotFoundError when osmo is not on PATH and PermissionError in other OS-level failures. If either exception escapes, the unlink on line 158 is never reached and the rendered YAML (which includes the full shell command) is left in /tmp. A try/finally block is the idiomatic fix:

try: result = subprocess.run(cmd) finally: Path(rendered_path).unlink(missing_ok=True) return result.returncode

greptile-apps · 2026-04-13T23:48:24Z

+
+
+        path: /tmp/entry.sh
+      image: nvcr.io/nvstaging/isaac-amr/isaaclab_arena:latest


:latest tag makes workflow non-reproducible

Pinning to :latest means two identical invocations on different days can run against different image contents if the tag is re-pushed. Consider pinning to a specific digest or semantic version tag so workflow results are reproducible and regressions are attributable to code changes rather than image drift.

cvolkcvolk · 2026-04-14T08:39:06Z

+
+
+        path: /tmp/entry.sh
+      image: nvcr.io/nvstaging/isaac-amr/isaaclab_arena:latest


Suggestion to make this a variable

cvolkcvolk · 2026-04-14T08:41:52Z

+
+    # Dry run (print rendered YAML without submitting)
+    python osmo/launch_arena.py --pool isaac-dev-l40-03 --dry-run
+"""


Shall we move this into a osmo/README.md?

cvolkcvolk · 2026-04-14T08:42:45Z

+            isaaclab_arena/tests/'
+
+    # Override resources
+    python osmo/launch_arena.py --gpus 2 --platform ovx-l40 --memory 128Gi \


Where will the output get dumped to? Suggestion to add to the documentation

cvolkcvolk · 2026-04-14T08:51:46Z

+    python osmo/launch_arena.py --pool isaac-dev-l40-03
+
+    # Custom command
+    python osmo/launch_arena.py \


Mhh this command stalls for me/ does not return:

✔ ~/workspaces/IsaacLab-Arena [xyao/dev/osmo_base_docker|✚ 1…1⚑ 2] 10:44 $ python osmo/launch_arena.py \ --pool isaac-dev-l40-03 \ --command '/isaac-sim/python.sh isaaclab_arena/evaluation/policy_runner.py \ --policy_type zero_action --num_steps 500 --headless \ kitchen_pick_and_place --object cracker_box --embodiment franka_ik' Submitting workflow 'arena-evaluation': osmo workflow submit /tmp/arena_zio674a_.yaml --pool isaac-dev-l40-03 --priority NORMAL (rendered from /home/cvolk/workspaces/IsaacLab-Arena/osmo/arena_base.yaml)

cvolkcvolk · 2026-04-14T08:52:39Z

+Usage examples:
+
+    # Default evaluation (zero_action on kitchen_pick_and_place)
+    python osmo/launch_arena.py --pool isaac-dev-l40-03


Suggestion to add a note about setting up OSMO (-credentials)

add osmo workflow for base

f5165db

isaaclab-review-bot Bot reviewed Apr 13, 2026

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pre-commit

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xyao-nv marked this pull request as ready for review April 13, 2026 23:43

xyao-nv requested review from alexmillane, cvolkcvolk, peterd-NV, qianl-nv, viiik-inside and zhx06 as code owners April 13, 2026 23:43

greptile-apps Bot reviewed Apr 13, 2026

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cvolkcvolk reviewed Apr 14, 2026

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Add osmo workflow for base env#595

Add osmo workflow for base env#595
xyao-nv wants to merge 2 commits intodevelopfrom
xyao/dev/osmo_base_docker

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	# Dry run (print rendered YAML without submitting)
	--pool isaac-dev-l40-03 \\

		--pool isaac-dev-l40-03
		--command 'ISAACLAB_ARENA_SUBPROCESS_TIMEOUT=900 \



		path: /tmp/entry.sh
		image: nvcr.io/nvstaging/isaac-amr/isaaclab_arena:latest

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xyao-nv commented Apr 13, 2026

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greptile-apps Bot commented Apr 13, 2026

Greptile Summary

Confidence Score: 5/5

Important Files Changed

Sequence Diagram

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