Moleworks Ext Container Workflow

When To Use

Use this skill when you need to run or debug commands inside isaac-lab-moleworks_ext-dev, especially for:

• scripts/rsl_rl/train.py, scripts/rsl_rl/play.py, or similar IsaacLab entrypoints
• local smoke tests before longer runs
• any workflow where persistent logs in tmux are required

Non-Negotiables

• Run IsaacLab scripts via /workspace/isaaclab/isaaclab.sh -p.
• Launch from a new tmux window so output remains inspectable.
• Use reliable tmux command dispatch:
  • either one send-keys ... C-m per command
  • or a single bash -lc '...; ...' string
• Capture pane output immediately after launch (tmux capture-pane -p ...).
• Reuse long-running command sessions/panes instead of spawning many short-lived process handles.
  This avoids hitting the unified exec process limit during long debug loops.

Preflight

1. Verify the container is up:

docker ps --format '{{.Names}}\t{{.Status}}' | rg isaac-lab-moleworks_ext-dev

2. If it is not running, start it:

cd ~/moleworks/moleworks_ext/docker
docker compose --env-file .env.moleworks_ext-dev \
  -f docker-compose.yaml -f docker-compose.override.yaml \
  up -d isaac-lab-ext-dev

Standard Launch Pattern

1. Create a tmux window in your current session:

tmux new-window -n mwext-run

2. Run the command inside the container:

tmux send-keys -t mwext-run "docker exec -it isaac-lab-moleworks_ext-dev bash -lc 'cd /workspace/moleworks_ext && <YOUR_COMMAND>'" C-m

3. Capture output right away:

tmux capture-pane -pt mwext-run -S -200

Smoke-Test Templates

Disable external logging for quick local checks:

export WANDB_MODE=disabled
/workspace/isaaclab/isaaclab.sh -p scripts/rsl_rl/train.py \
  --task Moleworks-Isaac-m445-digging-3D-w-cabin \
  --num_envs 4 \
  --max_iterations 3 \
  --headless
unset WANDB_MODE

Full tmux + container invocation:

tmux new-window -n mwext-smoke
tmux send-keys -t mwext-smoke "docker exec -it isaac-lab-moleworks_ext-dev bash -lc 'cd /workspace/moleworks_ext && export WANDB_MODE=disabled && /workspace/isaaclab/isaaclab.sh -p scripts/rsl_rl/train.py --task Moleworks-Isaac-m445-digging-3D-w-cabin --num_envs 4 --max_iterations 3 --headless'" C-m
tmux capture-pane -pt mwext-smoke -S -200

Quick Triage

• If startup fails, recapture deeper logs:

tmux capture-pane -pt <window> -S -400

• If path-dependent files are missing, include:

export MOLEWORKS_ROOT=/home/lorenzo/moleworks

inside the bash -lc command.

• If imports fail, confirm command uses isaaclab.sh -p (not plain python).

False-Hang Triage (Important)

Sometimes runs look "hung" but are actually script exceptions masked by shutdown.

1. Add explicit progress prints in the script around:
   • gym.make
   • env.reset
   • fixed-state setters
   • observation compute
   • torch.save
2. Temporarily skip app shutdown to expose real exceptions:

export MW_SKIP_APP_CLOSE=1

3. Relaunch in tmux and capture output right after:

tmux capture-pane -pt <window> -S -300

4. If you see torch.save:done and saved=..., the run is healthy even if teardown logs warnings.
5. If no new logs appear for >60s, stop with C-c, then relaunch --headless in the same tmux window.