Pin corrected cuDSS 0.8 worker and require known FP64 sparse solve before annotation

flora-worker-image.json

@@ -31,7 +31,7 @@
     "flora_batcher.py": "38e03e2032af8d5f3ed34980cc4d89927fe70c9742aa2ce13f4d0ccdd6fba727",
     "flora_speed_entry.py": "192b18d75b9d876c2a65d88de340c8cea7c8da90543d0510b5ee6865d123d524",
     "studio_runtime.py": "2b393bf7fafcdead638ad1cea35e49df8c6edce725f5545b76fd68e0a8fedd80",
-    "pipeline-version.json": "0231f13a7629d04a60aafb6b11fabbc864c0ac9396b357f9081a3e730cb6c5ca",
+    "pipeline-version.json": "b0c3e208fae3ebc0ee38cb9df8ea657aadeca6b70629697a197df1d30dbe17c1",
     "flora_vision.py": "a5a4231abf7b615164c40986df5f87047f745a23c55d86385d88f2a09e70f1e8"
   },
   "acceptance": {

hand-pipeline-catalog.json

@@ -44,5 +44,5 @@
     "soma": "https://huggingface.co/nvidia/SOMA-X",
     "runtime": "https://github.com/NVlabs/GEM-X/blob/20555befe2fbbe5b2015e1fff7ff214dc18ea9d6/ATTRIBUTIONS.md"
   },
-  "lerobot_revision": "0881a68acbf3fa9ebf0c42401ebb21647e78ed07"
+  "lerobot_revision": "2022627082231d8c69d68bbfd59919952ff58c5c"
 }

hand-worker-image.json

@@ -2,9 +2,9 @@
   "recipe": "egohand-soma-v3-checkpoint-overlap-v4",
   "build_verified": false,
   "image_repo": "finerobotics/egohand-soma-worker-v4",
-  "image_revision": "ab547a058b060f7c685092b90c79613d1290e4a8",
+  "image_revision": "06dcbf6fc970289d532eeebc86bedeef72b8c791",
   "image": "hf.co/spaces/finerobotics/egohand-soma-worker-v4",
-  "image_version_sha256": "2858daeee10cd9f908b80def283cac9a8639ca0b39de076d656b1fb2e69053ea",
+  "image_version_sha256": "624de4590d55adfe656876c3ff6b00929519b5d960cc6c3d710b6a204bc034ac",
   "assets": {
     "repo": "finerobotics/egohand-soma-runtime",
     "revision": "cb082150aed8612fd50a6a78a0e37deebf24b6c3",

hand_setup.py

@@ -89,6 +89,11 @@ def prepare_camera_engines(profile):
         check=True,
     )
     environment["LD_LIBRARY_PATH"] = environment["DROID_LIBRARY_PATH"]
+    subprocess.run(
+        [backend["droid_python"], __file__, "--check-solver", json.dumps(backend)],
+        env=environment,
+        check=True,
+    )
     subprocess.run(
         [backend["droid_python"], __file__, "--build", json.dumps(backend)], env=environment, check=True
     )
@@ -117,6 +122,31 @@ def verify_camera_contexts(backend):
         del runtime
 
 
+def verify_camera_solver(backend):
+    """Solve a known FP64 SPD system through the frozen sparse wrapper."""
+    from importlib.metadata import version
+
+    import torch
+
+    if version("nvidia-cudss-cu12") != "0.8.0.10":
+        raise RuntimeError("The frozen sparse wrapper requires cuDSS 0.8.0.10")
+    sys.path.insert(0, backend["droid_root"])
+    from cudss_solver import CuDSS
+
+    rows = torch.tensor([0, 1, 3, 5], device="cuda", dtype=torch.int32)
+    columns = torch.tensor([0, 0, 1, 1, 2], device="cuda", dtype=torch.int32)
+    values = torch.tensor([4.0, 1.0, 3.0, 1.0, 2.0], device="cuda", dtype=torch.float64)
+    rhs = torch.tensor([6.0, 10.0, 8.0], device="cuda", dtype=torch.float64)
+    solver = CuDSS(rows, columns, values, rhs)
+    try:
+        result = solver.solve()
+        solver.check()
+        torch.testing.assert_close(result, torch.tensor([1.0, 2.0, 3.0], device="cuda"), atol=1e-6, rtol=1e-6)
+    finally:
+        solver.close()
+    print('HAND_RUNTIME {"event":"fp64_sparse_solver_verified","cudss":"0.8.0.10"}', flush=True)
+
+
 def build_camera(backend):
     """Build TensorRT plans with the validated precision and dynamic shapes."""
     import ctypes
@@ -236,5 +266,7 @@ if __name__ == "__main__":
         build_camera(json.loads(sys.argv[2]))
     elif sys.argv[1] == "--check-contexts":
         verify_camera_contexts(json.loads(sys.argv[2]))
+    elif sys.argv[1] == "--check-solver":
+        verify_camera_solver(json.loads(sys.argv[2]))
     else:
-        raise ValueError("Expected --build or --check-contexts")
+        raise ValueError("Expected --build, --check-contexts or --check-solver")

pipeline-source.tar.gz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3b099dca7f598915442695ccff9363a70b8c7f0815c07c0f95421aaca2372997
-size 1873156
+oid sha256:5d7d2b44502da0db87d01322d6fcd95bdf3c68b7a1302ba74309a8ecd63c3bb7
+size 1873065

pipeline-version.json

@@ -1,6 +1,6 @@
 {
-  "git_commit": "0881a68acbf3fa9ebf0c42401ebb21647e78ed07",
-  "sha256": "3b099dca7f598915442695ccff9363a70b8c7f0815c07c0f95421aaca2372997",
+  "git_commit": "2022627082231d8c69d68bbfd59919952ff58c5c",
+  "sha256": "5d7d2b44502da0db87d01322d6fcd95bdf3c68b7a1302ba74309a8ecd63c3bb7",
   "preset": "abc_phases_schema_with_original_window_recovery",
   "preset_date": "2026-09-25",
   "engine": "lerobot.annotations.runtime",

test_hand_actions.py

@@ -274,13 +274,20 @@ def test_gpu_setup_uses_isolated_offline_environments(monkeypatch):
     hand_setup.prepare_camera_engines(
         {"backend": {"droid_python": "/camera/python", "egohand_python": "/hand/python"}}
     )
-    assert [command[0] for command, _ in calls] == ["/hand/python", "/camera/python", "/camera/python"]
+    assert [command[0] for command, _ in calls] == [
+        "/hand/python",
+        "/camera/python",
+        "/camera/python",
+        "/camera/python",
+    ]
     assert [environment["LD_LIBRARY_PATH"] for _, environment in calls] == [
         "/hand/lib",
         "/camera/lib",
         "/camera/lib",
+        "/camera/lib",
     ]
-    assert calls[2][0][2] == "--check-contexts"
+    assert calls[1][0][2] == "--check-solver"
+    assert calls[3][0][2] == "--check-contexts"
     for _, environment in calls:
         assert "HF_TOKEN" not in environment and "ANNOTATION_MANIFEST" not in environment
         assert environment["HF_HUB_OFFLINE"] == environment["TRANSFORMERS_OFFLINE"] == "1"