Add browser review/edit app for ArenaEnvGraphSpec

isaaclab_arena/agentic_environment_generation/environment_generation_agent.py

@@ -250,6 +250,33 @@ def generate_spec(
             A ``(EnvironmentIntentSpec, raw_response)`` tuple. The raw text is
             useful for debugging.
         """
+        data, text = self.fetch_intent_from_prompt(
+            prompt,
+            asset_catalog=asset_catalog,
+            relation_catalog=relation_catalog,
+            task_catalog=task_catalog,
+            temperature=temperature,
+            max_tokens=max_tokens,
+            max_retries=max_retries,
+        )
+        spec = EnvironmentIntentSpec.model_validate(data)
+        return spec, text
+
+    def fetch_intent_from_prompt(
+        self,
+        prompt: str,
+        asset_catalog: AssetCatalogue | None = None,
+        relation_catalog: RelationCatalogue | None = None,
+        task_catalog: TaskCatalogue | None = None,
+        temperature: float = 0.2,
+        max_tokens: int = 4096,
+        max_retries: int = 3,
+    ) -> tuple[dict[str, Any], str]:
+        """Call the model and return parsed intent JSON without registry validation.
+
+        Registry-backed :class:`EnvironmentIntentSpec` validation should run in a
+        SimApp process (e.g. the review GUI sidecar) where registries are warm.
+        """
         asset_catalog = asset_catalog or build_asset_catalogue()
         relation_catalog = relation_catalog or build_relation_catalogue()
         task_catalog = task_catalog or build_task_catalogue()
@@ -268,7 +295,7 @@ def generate_spec(
         last_exc: Exception | None = None
         for attempt in range(1 + max_retries):
             if attempt > 0:
-                print(f"[generate_spec] retry {attempt}/{max_retries} after: {last_exc}", flush=True)
+                print(f"[fetch_intent_from_prompt] retry {attempt}/{max_retries} after: {last_exc}", flush=True)
 
             try:
                 resp = self.client.chat.completions.create(
@@ -299,8 +326,7 @@ def generate_spec(
                 # (e.g. literal tabs) inside JSON strings — DeepSeek-v4-flash is known
                 # to emit these.
                 data = json.loads(text, strict=False)
-                spec = EnvironmentIntentSpec.model_validate(data)
-                return spec, text
+                return data, text
             except Exception as exc:
                 last_exc = exc
 

isaaclab_arena/assets/object.py

@@ -11,12 +11,9 @@
 from isaaclab.sim.spawners.spawner_cfg import SpawnerCfg
 
 from isaaclab_arena.assets.object_base import ObjectBase, ObjectType
-from isaaclab_arena.assets.object_utils import detect_object_type
 from isaaclab_arena.relations.relations import RelationBase
 from isaaclab_arena.utils.bounding_box import AxisAlignedBoundingBox, quaternion_to_90_deg_z_quarters
 from isaaclab_arena.utils.pose import Pose
-from isaaclab_arena.utils.usd.rigid_bodies import find_shallowest_rigid_body
-from isaaclab_arena.utils.usd_helpers import compute_local_bounding_box_from_usd, has_light, open_stage
 
 
 class Object(ObjectBase):
@@ -49,6 +46,8 @@ def __init__(
                 "object_type is None (indicating auto-detect) but usd_path is also None. usd_path is required to detect"
                 " object type"
             )
+            from isaaclab_arena.assets.object_utils import detect_object_type
+
             object_type = detect_object_type(usd_path=usd_path)
         super().__init__(name=name, prim_path=prim_path, object_type=object_type, **kwargs)
         self.usd_path = usd_path
@@ -69,6 +68,8 @@ def add_relation(self, relation: RelationBase) -> None:
 
     def get_bounding_box(self) -> AxisAlignedBoundingBox:
         """Get local bounding box (relative to object origin)."""
+        from isaaclab_arena.utils.usd_helpers import compute_local_bounding_box_from_usd
+
         assert self.usd_path is not None
         if self.bounding_box is None:
             self.bounding_box = compute_local_bounding_box_from_usd(self.usd_path, self.scale)
@@ -88,6 +89,8 @@ def get_world_bounding_box(self) -> AxisAlignedBoundingBox:
         return local_bbox.rotated_90_around_z(quarters).translated(self.initial_pose.position_xyz)
 
     def get_corners(self, pos: torch.Tensor) -> torch.Tensor:
+        from isaaclab_arena.utils.usd_helpers import compute_local_bounding_box_from_usd
+
         assert self.usd_path is not None
         if self.bounding_box is None:
             self.bounding_box = compute_local_bounding_box_from_usd(self.usd_path, self.scale)
@@ -107,6 +110,8 @@ def enable_reset_pose(self) -> None:
     def get_contact_sensor_cfg(
         self, contact_against_object: ObjectBase | None = None, usd_path: str | None = None
     ) -> ContactSensorCfg:
+        from isaaclab_arena.utils.usd.rigid_bodies import find_shallowest_rigid_body
+
         assert self.object_type == ObjectType.RIGID, "Contact sensor is only supported for rigid objects"
         # We override this function from the parent class because in some assets, the rigid body
         # is not at the root of the USD file. To be robust to this, we find the shallowest rigid body
@@ -177,6 +182,8 @@ def _generate_articulation_cfg(self) -> ArticulationCfg:
         return self._add_initial_pose_to_cfg(object_cfg)
 
     def _generate_base_cfg(self) -> AssetBaseCfg:
+        from isaaclab_arena.utils.usd_helpers import has_light, open_stage
+
         assert self.object_type == ObjectType.BASE
         if self.spawner_cfg is None:
             with open_stage(self.usd_path) as stage:

isaaclab_arena/assets/object_library.py

@@ -22,7 +22,7 @@
 from isaaclab_arena.assets.lightwheel_lazy import LightwheelLazyPath
 from isaaclab_arena.assets.object import Object
 from isaaclab_arena.assets.object_base import ObjectType
-from isaaclab_arena.assets.object_utils import (
+from isaaclab_arena.assets.object_spawn_defaults import (
     EMPTY_ARTICULATION_INIT_STATE_CFG,
     RIGID_BODY_PROPS_HIGH_PRECISION,
     RIGID_BODY_PROPS_MEDIUM_PRECISION,

isaaclab_arena/assets/object_spawn_defaults.py

@@ -0,0 +1,46 @@
+# Copyright (c) 2025-2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Spawn/physics defaults for library objects (no USD / pxr imports)."""
+
+import isaaclab.sim as sim_utils
+from isaaclab.assets import ArticulationCfg
+
+# Predefined rigid body property configurations for assembly tasks
+# High iteration count for precision tasks (peg/hole insertion)
+RIGID_BODY_PROPS_HIGH_PRECISION = sim_utils.RigidBodyPropertiesCfg(
+    disable_gravity=False,
+    max_depenetration_velocity=5.0,
+    linear_damping=0.0,
+    angular_damping=0.0,
+    max_linear_velocity=1000.0,
+    max_angular_velocity=3666.0,
+    enable_gyroscopic_forces=True,
+    solver_position_iteration_count=192,
+    solver_velocity_iteration_count=1,
+    max_contact_impulse=1e32,
+)
+
+# Standard iteration count for gear mesh tasks
+RIGID_BODY_PROPS_MEDIUM_PRECISION = sim_utils.RigidBodyPropertiesCfg(
+    disable_gravity=False,
+    max_depenetration_velocity=5.0,
+    linear_damping=0.0,
+    angular_damping=0.0,
+    max_linear_velocity=1000.0,
+    max_angular_velocity=3666.0,
+    enable_gyroscopic_forces=True,
+    solver_position_iteration_count=32,
+    solver_velocity_iteration_count=32,
+    max_contact_impulse=1e32,
+)
+
+# Initial state configuration for articulations without joints (e.g., rigid bodies treated as articulations).
+# We explicitly set joint_pos and joint_vel to empty dicts to avoid the default pattern {".*": 0.0} in ArticulationCfg.InitialStateCfg,
+# which would fail to match when there are no joints in the articulation.
+EMPTY_ARTICULATION_INIT_STATE_CFG = ArticulationCfg.InitialStateCfg(
+    joint_pos={},
+    joint_vel={},
+)

isaaclab_arena/assets/object_utils.py

@@ -4,15 +4,28 @@
 # SPDX-License-Identifier: Apache-2.0
 
 
-import isaaclab.sim as sim_utils
-from isaaclab.assets import ArticulationCfg
-from pxr import Usd
+from typing import TYPE_CHECKING
 
 from isaaclab_arena.assets.object_base import ObjectType
-from isaaclab_arena.utils.usd_helpers import get_prim_depth, is_articulation_root, is_rigid_body
+from isaaclab_arena.assets.object_spawn_defaults import (
+    EMPTY_ARTICULATION_INIT_STATE_CFG,
+    RIGID_BODY_PROPS_HIGH_PRECISION,
+    RIGID_BODY_PROPS_MEDIUM_PRECISION,
+)
+
+if TYPE_CHECKING:
+    from pxr import Usd
+
+# Re-export spawn defaults for backward compatibility.
+__all__ = [
+    "EMPTY_ARTICULATION_INIT_STATE_CFG",
+    "RIGID_BODY_PROPS_HIGH_PRECISION",
+    "RIGID_BODY_PROPS_MEDIUM_PRECISION",
+    "detect_object_type",
+]
 
 
-def detect_object_type(usd_path: str | None = None, stage: Usd.Stage | None = None) -> ObjectType:
+def detect_object_type(usd_path: str | None = None, stage: "Usd.Stage | None" = None) -> ObjectType:
     """Detect the object type of the asset
 
     Goes through the USD tree and detects the object type. The detection is based
@@ -28,6 +41,10 @@ def detect_object_type(usd_path: str | None = None, stage: Usd.Stage | None = No
     Returns:
         The object type of the asset.
     """
+    from pxr import Usd
+
+    from isaaclab_arena.utils.usd_helpers import get_prim_depth, is_articulation_root, is_rigid_body
+
     assert usd_path is not None or stage is not None, "Either usd_path or stage must be provided"
     assert usd_path is None or stage is None, "Either usd_path or stage must be provided"
     if usd_path is not None:
@@ -62,41 +79,3 @@ def detect_object_type(usd_path: str | None = None, stage: Usd.Stage | None = No
         return ObjectType.ARTICULATION
     else:
         raise ValueError("This should not happen. There is an unknown USD type in the tree.")
-
-
-# Predefined rigid body property configurations for assembly tasks
-# High iteration count for precision tasks (peg/hole insertion)
-RIGID_BODY_PROPS_HIGH_PRECISION = sim_utils.RigidBodyPropertiesCfg(
-    disable_gravity=False,
-    max_depenetration_velocity=5.0,
-    linear_damping=0.0,
-    angular_damping=0.0,
-    max_linear_velocity=1000.0,
-    max_angular_velocity=3666.0,
-    enable_gyroscopic_forces=True,
-    solver_position_iteration_count=192,
-    solver_velocity_iteration_count=1,
-    max_contact_impulse=1e32,
-)
-
-# Standard iteration count for gear mesh tasks
-RIGID_BODY_PROPS_MEDIUM_PRECISION = sim_utils.RigidBodyPropertiesCfg(
-    disable_gravity=False,
-    max_depenetration_velocity=5.0,
-    linear_damping=0.0,
-    angular_damping=0.0,
-    max_linear_velocity=1000.0,
-    max_angular_velocity=3666.0,
-    enable_gyroscopic_forces=True,
-    solver_position_iteration_count=32,
-    solver_velocity_iteration_count=32,
-    max_contact_impulse=1e32,
-)
-
-# Initial state configuration for articulations without joints (e.g., rigid bodies treated as articulations).
-# We explicitly set joint_pos and joint_vel to empty dicts to avoid the default pattern {".*": 0.0} in ArticulationCfg.InitialStateCfg,
-# which would fail to match when there are no joints in the articulation.
-EMPTY_ARTICULATION_INIT_STATE_CFG = ArticulationCfg.InitialStateCfg(
-    joint_pos={},
-    joint_vel={},
-)

isaaclab_arena/environments/arena_env_graph_spec.py

@@ -9,7 +9,7 @@
 from pathlib import Path
 from typing import TYPE_CHECKING, Any, Self
 
-from pydantic import BaseModel, Field, SerializeAsAny, field_validator, model_validator
+from pydantic import BaseModel, Field, SerializeAsAny, ValidationInfo, field_validator, model_validator
 
 from isaaclab_arena.assets.registries import TaskRegistry
 from isaaclab_arena.environments.arena_env_graph_types import (
@@ -83,6 +83,18 @@ def write_yaml(self, path: str | Path) -> None:
         with Path(path).open("w", encoding="utf-8") as f:
             yaml.safe_dump(self.to_dict(), f, sort_keys=False)
 
+    def to_yaml(self, path: str | Path) -> Path:
+        """Write this spec to ``path`` as YAML. Creates parent dirs as needed.
+
+        Returns the resolved :class:`Path` written. Symmetric with
+        :meth:`from_yaml`.
+        """
+        out_path = Path(path)
+        out_path.parent.mkdir(parents=True, exist_ok=True)
+        with out_path.open("w", encoding="utf-8") as f:
+            yaml.safe_dump(self.to_dict(), f, sort_keys=False)
+        return out_path
+
     @property
     def nodes_by_id(self) -> dict[str, ArenaEnvGraphNodeSpec]:
         return {node.id: node for node in self.nodes}
@@ -158,8 +170,10 @@ class ArenaEnvInitialGraphSpec(ArenaEnvGraphSpecBase):
     initial_state_spec: ArenaEnvGraphStateSpec
 
     @model_validator(mode="after")
-    def validate(self) -> Self:
+    def validate(self, info: ValidationInfo) -> Self:
         """Check unique IDs, constraint references, and spatial constraint shapes."""
+        if info.context and info.context.get("skip_registry"):
+            return self
         assert_unique_ids(self.nodes, [], [self.initial_state_spec])
         assert_constraint_references(self.nodes, [self.initial_state_spec])
         assert_spatial_constraint_shapes([self.initial_state_spec])

isaaclab_arena/environments/arena_env_graph_types.py

@@ -16,7 +16,7 @@
 from enum import Enum
 from typing import Any
 
-from pydantic import BaseModel, Field, field_validator, model_validator
+from pydantic import BaseModel, Field, ValidationInfo, field_validator, model_validator
 
 from isaaclab_arena.assets.object_type import ObjectType
 from isaaclab_arena.assets.registries import ObjectRelationLibraryRegistry, TaskRegistry
@@ -115,7 +115,9 @@ class TaskSpec(BaseModel):
 
     @field_validator("kind")
     @classmethod
-    def _validate_registered_task_type(cls, value: str) -> str:
+    def _validate_registered_task_type(cls, value: str, info: ValidationInfo) -> str:
+        if info.context and info.context.get("skip_registry"):
+            return value
         registry = TaskRegistry()
         assert registry.is_registered(value), f"Unknown task kind '{value}'"
         return value
@@ -169,7 +171,9 @@ class SpatialRelationSpec(BaseModel):
     )
 
     @model_validator(mode="after")
-    def _validate_kind_and_arity(self) -> SpatialRelationSpec:
+    def _validate_kind_and_arity(self, info: ValidationInfo) -> SpatialRelationSpec:
+        if info.context and info.context.get("skip_registry"):
+            return self
         registry = ObjectRelationLibraryRegistry()
         assert registry.is_registered(self.kind), f"Unknown relation kind '{self.kind}'"
         relation_cls = registry.get_object_relation_by_name(self.kind)

isaaclab_arena/evaluation/eval_runner.py

@@ -5,14 +5,12 @@
 
 import argparse
 import dataclasses
-import gc
 import json
 import math
 import os
 import subprocess
 import sys
 import tempfile
-import torch
 import traceback
 from gymnasium.wrappers import RecordVideo
 from pathlib import Path
@@ -24,7 +22,11 @@
 from isaaclab_arena.evaluation.policy_runner import get_policy_cls, rollout_policy
 from isaaclab_arena.metrics.aggregate_metrics import aggregate_metrics
 from isaaclab_arena.metrics.metrics_logger import MetricsLogger
-from isaaclab_arena.utils.isaaclab_utils.simulation_app import SimulationAppContext, teardown_simulation_app
+from isaaclab_arena.utils.isaaclab_utils.simulation_app import (
+    SimulationAppContext,
+    close_env_and_reset_sim,
+    collect_garbage_and_clear_cuda_cache,
+)
 from isaaclab_arena_environments.cli import get_arena_builder_from_cli, get_isaaclab_arena_environments_cli_parser
 
 if TYPE_CHECKING:
@@ -111,31 +113,18 @@ def get_policy_from_job(job: Job) -> "PolicyBase":
     return policy
 
 
-def _collect_garbage_and_clear_cuda_cache() -> None:
-    gc.collect()
-    if torch.cuda.is_available():
-        torch.cuda.empty_cache()
-
-
 def _close_policy(policy: "PolicyBase | None") -> None:
     try:
         if policy is not None:
             policy.close()
     finally:
-        _collect_garbage_and_clear_cuda_cache()
+        collect_garbage_and_clear_cuda_cache()
 
 
 def _close_env(env) -> None:
     if env is None:
         return
-    try:
-        teardown_simulation_app(suppress_exceptions=False, make_new_stage=True)
-    finally:
-        try:
-            # cleanup managers, including recorder manager closing hdf5 file
-            env.close()
-        finally:
-            _collect_garbage_and_clear_cuda_cache()
+    close_env_and_reset_sim(env)
 
 
 def _close_job_resources(policy: "PolicyBase | None", env) -> None:
@@ -326,7 +315,7 @@ def main():
                     finally:
                         policy = None
                         env = None
-                        _collect_garbage_and_clear_cuda_cache()
+                        collect_garbage_and_clear_cuda_cache()
 
             # Aggregate the metrics from the different experiments into a single view.
             if metrics_per_run: