| # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). | |
| # All rights reserved. | |
| # | |
| # SPDX-License-Identifier: BSD-3-Clause | |
| """Launch Isaac Sim Simulator first.""" | |
| from isaaclab.app import AppLauncher | |
| # launch omniverse app | |
| simulation_app = AppLauncher(headless=True).app | |
| """Rest everything follows.""" | |
| from collections import namedtuple | |
| import pytest | |
| from isaaclab.envs.mdp import NullCommandCfg | |
| def env(): | |
| """Create a dummy environment.""" | |
| return namedtuple("ManagerBasedRLEnv", ["num_envs", "dt", "device"])(20, 0.1, "cpu") | |
| def test_str(env): | |
| """Test the string representation of the command manager.""" | |
| cfg = NullCommandCfg() | |
| command_term = cfg.class_type(cfg, env) | |
| # print the expected string | |
| print() | |
| print(command_term) | |
| def test_compute(env): | |
| """Test the compute function. For null command generator, it does nothing.""" | |
| cfg = NullCommandCfg() | |
| command_term = cfg.class_type(cfg, env) | |
| # test the reset function | |
| command_term.reset() | |
| # test the compute function | |
| command_term.compute(dt=env.dt) | |
| # expect error | |
| with pytest.raises(RuntimeError): | |
| command_term.command | |