Support graph-spec YAML environments in typed YAML experiment configs

[alexmillane]

Summary

Support graph-YAML environments in typed YAML experiment configs

Detailed description

• The typed YAML experiment frontend resolved environment.type only against registered environment names, so graph-spec YAML environments (e.g. isaaclab_arena_environments/robolab/tasks/*.yaml) were reachable only through the legacy JSON format or the CLI.
• An environment.type ending in .yaml/.yml now builds the same temporary LegacyGraphEnvironmentCfg compatibility config the JSON frontend produces, via a graph_environment_cfg_factory injected from the evaluation layer next to the other typed-config-migration shims.
• Graph runs execute with the Run's typed environment_builder config (not one re-derived from CLI tokens), so post-load Hydra overrides such as experiment_cfg.runs.X.environment_builder.num_envs=4 on an OSMO submission take effect; the pre-launch camera guard also recognizes graph runs.
• osmo/submit_arena_experiment.py now works with graph-run experiments: the compatibility config records its graph-spec path and source values, and serialize_arena_experiment_to_yaml emits them, so the embedded per-Run handoff round-trips through the runner loader. The GR00T remote policy config's Literal annotation was also relaxed so it composes in typed YAML experiments.
• Verified in the container: loader/serializer/OSMO unit tests; end-to-end experiment_runner.py on a robolab graph run with a num_envs override applied; osmo.submit_arena_experiment --policy_server pi0 osmo.dry_run=true renders a 4-run robolab workflow with embedded graph experiments.

[arena-review-bot]

🤖 Isaac Lab-Arena Review Bot

Summary

This PR lets typed YAML experiment configs select graph-spec YAML environments (environment.type ending in .yaml/.yml) by building the same temporary LegacyGraphEnvironmentCfg compatibility config the JSON frontend produces. The design is clean: the generic Hydra loader stays dependency-free via an injected graph_environment_cfg_factory, the actual conversion lives in the evaluation layer next to the other [typed-config-migration] shims, and everything is TODO-marked for deletion. The camera pre-launch guard is correctly extended so a graph-YAML run with --enable_cameras in its tokens still fails fast when the flag is missing.

Findings

No blocking issues found. A few things I verified and liked:

• The _run_environment_requires_cameras change is a real fix, not just a refactor: ArenaEnvironmentCfg has no enable_cameras field, so the old inline getattr(..., "enable_cameras", False) would have returned False for graph-YAML runs and silently skipped the guard.
• num_envs flows consistently to both the rendered CLI tokens and the typed environment_builder, mirroring the JSON path exactly.
• The no-factory case fails loud with a clear assertion rather than a confusing downstream error.

Test Coverage

Well covered. The new unit tests assert the exact arena_env_args token order, the camera-guard behavior for a LegacyGraphEnvironmentCfg, the injected-factory contract, and the no-factory assertion. These are Phase-1 (no cameras / no subprocess) unit tests that never start the sim, so the inner/outer run_simulation_app_function pattern correctly does not apply.

Verdict

Ship it

[greptile-apps]

Greptile Summary

This PR extends the typed YAML experiment frontend so that an environment.type value ending in .yaml/.yml is routed through the existing LegacyGraphEnvironmentCfg argparse compatibility path, instead of failing with an unknown-selector error. The same legacy_environment_args_to_cli_args serialisation used by the JSON frontend is reused, and the pre-launch camera guard is widened to cover the new run type.

• Adds _graph_spec_yaml_selector in typed_experiment_loader.py and an injectable graph_environment_cfg_factory parameter that keeps the shim isolated from the generic Hydra loader.
• Implements _graph_environment_cfg_from_yaml_values in arena_experiment_config_loader.py to merge environment_builder and remaining environment values into CLI tokens, mirroring the JSON path.
• Extends _run_environment_requires_cameras in experiment_runner.py to detect --enable_cameras in arena_env_args for LegacyGraphEnvironmentCfg runs.

Confidence Score: 4/5

Safe to merge; the changes are a well-scoped compatibility shim with good test coverage, touching only the experiment loading and camera-guard paths.

The implementation is clean and consistent with existing patterns. The only issue found is a minor dict construction order in _graph_environment_cfg_from_yaml_values where "environment" is placed first in the literal, meaning a hypothetically colliding key in the spread dicts could silently overwrite the graph-spec YAML path. Tests cover the factory contract, token ordering, camera detection, and the no-factory assertion.

isaaclab_arena/evaluation/arena_experiment_config_loader.py — the _graph_environment_cfg_from_yaml_values dict literal ordering

Important Files Changed

Filename	Overview
isaaclab_arena/hydra/typed_experiment_loader.py	Adds graph-spec YAML detection via _graph_spec_yaml_selector and routes matching runs through the injected graph_environment_cfg_factory; the factory is threaded through the call chain cleanly.
isaaclab_arena/evaluation/arena_experiment_config_loader.py	Adds _graph_environment_cfg_from_yaml_values factory merging environment_builder_values then environment_values into CLI args; the "environment" key is placed first and could theoretically be shadowed by a colliding spread key.
isaaclab_arena/evaluation/experiment_runner.py	Extends camera-guard to cover LegacyGraphEnvironmentCfg by checking "--enable_cameras" token presence; logic is correct and the helper is well-isolated.
isaaclab_arena/tests/test_arena_experiment_config_loader.py	Adds two focused tests: full integration test for the new graph-YAML loading path (token ordering, builder values, device override) and a camera-guard assertion test for the new run type.
isaaclab_arena/tests/test_experiment_hydra.py	Adds unit tests for the factory contract (values received, environment equality), token rendering, and the no-factory assertion; these tests do not require a real environment registration.

Sequence Diagram

sequenceDiagram
    participant User
    participant Loader as arena_experiment_config_loader
    participant HydraLoader as typed_experiment_loader
    participant CliArgs as legacy_environment_cli_args
    participant Runner as experiment_runner

    User->>Loader: load_arena_experiment_from_config_file(path, device)
    Loader->>HydraLoader: load_arena_experiment_from_yaml(path, env_cfg_types, policy_resolver, graph_env_factory)

    loop for each Run
        HydraLoader->>HydraLoader: _graph_spec_yaml_selector(environment_values)
        alt type ends with .yaml/.yml
            HydraLoader->>Loader: graph_environment_cfg_factory(graph_spec_yaml, env_values, builder_values)
            Loader->>CliArgs: "legacy_environment_args_to_cli_args({environment, ...builder_values, ...env_values})"
            CliArgs-->>Loader: [--num_envs, 2, --enable_cameras, --env_graph_spec_yaml, path, ...]
            Loader-->>HydraLoader: "LegacyGraphEnvironmentCfg(arena_env_args=[...])"
        else registered selector name
            HydraLoader->>HydraLoader: _compose_typed_config_from_yaml_selector(...)
        end
        HydraLoader->>HydraLoader: Compose ArenaRunCfg via Hydra (remaining_values incl. environment_builder)
    end

    HydraLoader-->>Loader: "ArenaExperimentCfg(runs={...})"
    Loader->>Loader: Apply device to each run.environment_builder

    User->>Runner: main() / _assert_camera_support_enabled(experiment_cfg, enable_cameras)
    loop for each Run
        Runner->>Runner: _run_environment_requires_cameras(run_cfg)
        alt isinstance LegacyGraphEnvironmentCfg
            Runner->>Runner: --enable_cameras in arena_env_args
        else typed environment
            Runner->>Runner: getattr(environment, enable_cameras, False)
        end
    end

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_{Reviews (1): Last reviewed commit: "Support graph-spec YAML environments in ..." | Re-trigger Greptile}

[greptile-apps]

The "environment" key is set first in the literal, so a key named "environment" in either environment_builder_values or environment_values (e.g. a YAML field literally called environment nested inside the environment: section) would silently overwrite env_graph_spec_yaml. Placing it last guarantees it always wins.

Suggested change

	arena_env_args: dict[str, Any] = {
	"environment": env_graph_spec_yaml,
	**environment_builder_values,
	**environment_values,
	}
	arena_env_args: dict[str, Any] = {
	**environment_builder_values,
	**environment_values,
	"environment": env_graph_spec_yaml,
	}