SDK Overview

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Install

pip install hardsim

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Core Methods

• submit(...): create a cloud simulation job.
• submit_assets(...): strict real-mode submit using local files, managed URIs, or asset IDs.
• step(...): alias for submit-oriented cloud simulation call.
• status(job_id): get current job state.
• wait(job_id): poll until terminal state.
• watch_job(job_id): stream live terminal-friendly status updates.
• download(job_id, out_dir): download generated artifacts.
• cancel(job_id): cancel queued/running jobs.
• upload_input(local_path): upload local files and return a managed input URI.
• upload_input_asset(local_path): upload local file and return stable asset_id.
• register_input_asset(...): register an existing managed input URI into asset catalog.
• list_input_assets(...) / get_input_asset(asset_id): query catalog.
• create_training_run(...): create a managed rollout-train run.
• list_training_runs(limit=..., submission_group_id=...): list runs (optional group filter).
• get_training_run(run_id) / wait_training_run(run_id): monitor managed run lifecycle.
• watch_training_run(run_id): stream live run status + events.
• pause_training_run(run_id) / resume_training_run(run_id) / cancel_training_run(run_id).
• list_run_checkpoints(run_id) / get_latest_checkpoint(run_id).
• submit_many_jobs(...) / submit_many_training_runs(...): batch submit with one group ID.
• watch_submission_group(group_id): live group progress in terminal.

• runtime_profile="isaac_lab_rollout"
• an isaac_lab={...} config block
• a task package uploaded as asset_kind="isaac_lab_task_package"

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Terminal Monitoring Patterns

1. Manual status checks anytime

job_state = client.status(job_id)
run_state = client.get_training_run(run_id)
events = client.list_training_events(run_id, limit=20)

2. Live watch stream

# Simulation job
client.watch_job(job_id, poll_interval_s=2.0, timeout_s=36000)

# Managed training run
client.watch_training_run(run_id, poll_interval_s=5.0, timeout_s=24*3600)

group = client.submit_many_jobs(name="batch-10", jobs=[...])
client.watch_submission_group(group["group_id"], poll_interval_s=2.0, timeout_s=3600)

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Environment Variables

• HARDSIM_API_KEY (required)
• HARDSIM_API_URL (production: https://api-sim.hardlightsim.com)
• HARDSIM_HTTP_TIMEOUT_S
• HARDSIM_HTTP_RETRIES
• HARDSIM_HTTP_BACKOFF_S

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Idempotent Submit (Recommended)

client = hs.HardsimClient.from_env()
robot_asset_id = client.upload_input_asset("./assets/franka.urdf", asset_kind="robot")
scene_asset_id = client.upload_input_asset("./assets/cabinet_scene.usd", asset_kind="scene")

job = client.submit_assets(
    robot_asset_id=robot_asset_id,
    scene_asset_id=scene_asset_id,
    robot_asset_type="urdf",
    num_envs=64,
    steps=2000,
    control={"task_mode": "fr3_pick_lift_block_v1", "fix_base": True},
    idempotency_key="train-run-42-shard-0001",
)

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One-Call Real Asset Submit

import hardsim as hs

client = hs.HardsimClient.from_env()
job = client.submit_assets(
    robot_asset="./assets/franka.urdf",      # local path or managed URI
    scene_usd="./assets/cabinet_scene.usd",  # local path or managed URI
    num_envs=64,
    steps=2000,
    scene_id="franka_cabinet_oige_v1",
    control={"task_mode": "fr3_pick_lift_block_v1", "fix_base": True},
)

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Asset-ID Submit (Recommended For Repeat Workloads)

import hardsim as hs

client = hs.HardsimClient.from_env()

robot_asset_id = client.upload_input_asset("./assets/franka.urdf", asset_kind="robot")
scene_asset_id = client.upload_input_asset("./assets/cabinet_scene.usd", asset_kind="scene")

job = client.submit_assets(
    robot_asset_id=robot_asset_id,
    scene_asset_id=scene_asset_id,
    robot_asset_type="urdf",
    num_envs=64,
    steps=2000,
    control={"task_mode": "fr3_pick_lift_block_v1", "fix_base": True},
)

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Managed Training

• managed-training-quickstart

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More Detail

• Getting Started
• API Overview
• Isaac Lab Jobs
• Artifacts and Diagnostics
• Managed Training Quickstart