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# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Tests for environment documentation generation helpers."""
from __future__ import annotations
import sys
from pathlib import Path
from gymnasium.envs.registration import EnvSpec
def _bootstrap_paths() -> None:
"""Prepend editable ``source/*`` packages and ``tools/`` for dev-tree runs."""
repo_root = Path(__file__).resolve().parents[2]
source_dir = repo_root / "source"
tools_dir = repo_root / "tools"
prepend: list[str] = [str(tools_dir)]
if source_dir.is_dir():
for package_dir in sorted(source_dir.iterdir()):
if not package_dir.is_dir():
continue
module_root = package_dir / package_dir.name
if module_root.is_dir():
prepend.append(str(package_dir))
for path in reversed(prepend):
if path not in sys.path:
sys.path.insert(0, path)
_bootstrap_paths()
from environ_docs import ( # noqa: E402
COMPREHENSIVE_LIST_END_MARKER,
COMPREHENSIVE_LIST_START_MARKER,
EnvironmentDocRow,
_physics_names_for_docs,
apply_rl_library_overrides,
collect_environment_doc_rows,
find_inference_task_name,
format_presets_rst,
format_rl_libraries,
is_training_task,
parse_rl_libraries_from_kwargs,
patch_environments_rst,
render_comprehensive_list_table,
)
import isaaclab_tasks # noqa: E402, F401
from isaaclab_tasks.utils.preset_target import PresetTarget # noqa: E402
def test_is_training_task_filters_inference_variants():
assert is_training_task("Isaac-Cartpole-v0")
assert not is_training_task("Isaac-Cartpole-Play-v0")
assert not is_training_task("Isaac-Assemble-Trocar-G129-Dex3-Eval-v0")
assert not is_training_task("Isaac-Repose-Cube-Shadow-Vision-Direct-Play-v0")
assert not is_training_task("Isaac-Repose-Cube-Shadow-Vision-Benchmark-Direct-v0")
def test_parse_rl_libraries_from_kwargs_handles_multi_agent_and_amp():
kwargs = {
"env_cfg_entry_point": "ignored",
"rl_games_cfg_entry_point": "agents:rl_games_ppo_cfg.yaml",
"skrl_cfg_entry_point": "agents:skrl_ppo_cfg.yaml",
"skrl_ippo_cfg_entry_point": "agents:skrl_ippo_cfg.yaml",
"skrl_mappo_cfg_entry_point": "agents:skrl_mappo_cfg.yaml",
"skrl_amp_cfg_entry_point": "agents:skrl_amp_cfg.yaml",
"rsl_rl_with_symmetry_cfg_entry_point": "agents.rsl_rl_ppo_cfg:RunnerCfg",
"rl_games_cfg_entry_point_ignored": "nope",
}
agents = parse_rl_libraries_from_kwargs(kwargs)
assert agents["rl_games"] == ["PPO"]
assert agents["skrl"] == ["PPO", "AMP", "IPPO", "MAPPO"]
def test_parse_rl_libraries_detects_vision_config_from_filename():
kwargs = {
"env_cfg_entry_point": "ignored",
"rl_games_cfg_entry_point": "agents:rl_games_ppo_vision_cfg.yaml",
"rsl_rl_cfg_entry_point": "agents.rsl_rl_ppo_cfg:RunnerCfg",
}
agents = parse_rl_libraries_from_kwargs(kwargs)
assert agents["rl_games"] == ["VISION"]
assert agents["rsl_rl"] == ["PPO"]
def test_apply_rl_library_overrides_supplements_registry_gaps():
agents = apply_rl_library_overrides(
"Isaac-Assemble-Trocar-G129-Dex3-v0",
{},
)
assert agents == {"rlinf": ["PPO"]}
def test_find_inference_task_name_supports_play_and_eval():
registry_ids = {
"Isaac-Ant-v0",
"Isaac-Ant-Play-v0",
"Isaac-Assemble-Trocar-G129-Dex3-v0",
"Isaac-Assemble-Trocar-G129-Dex3-Eval-v0",
}
assert find_inference_task_name("Isaac-Ant-v0", registry_ids) == "Isaac-Ant-Play-v0"
assert (
find_inference_task_name("Isaac-Assemble-Trocar-G129-Dex3-v0", registry_ids)
== "Isaac-Assemble-Trocar-G129-Dex3-Eval-v0"
)
assert find_inference_task_name("Isaac-Cartpole-v0", registry_ids) is None
def test_format_presets_rst_single_and_multi_line():
single = format_presets_rst({PresetTarget.PHYSICS: ["physx", "newton_mjwarp"]})
assert single == "**physics=** ``physx``, ``newton_mjwarp``"
multi = format_presets_rst(
{
PresetTarget.PHYSICS: ["physx"],
PresetTarget.RENDERER: ["isaacsim_rtx_renderer"],
PresetTarget.DOMAIN: ["rgb", "depth"],
}
)
assert "| **physics=** ``physx``" in multi
assert "**renderer=** ``isaacsim_rtx_renderer``" in multi
assert "**presets=** ``rgb``, ``depth``" in multi
def test_format_presets_rst_hides_domain_names_duplicated_by_physics():
formatted = format_presets_rst(
{
PresetTarget.PHYSICS: ["newton_kamino", "newton_mjwarp", "physx"],
PresetTarget.DOMAIN: ["newton_mjwarp", "physx"],
}
)
assert formatted == "**physics=** ``newton_kamino``, ``newton_mjwarp``, ``physx``"
assert "presets=" not in formatted
def test_format_presets_rst_hides_physics_backend_mirrors_without_physics_preset():
formatted = format_presets_rst(
{
PresetTarget.PHYSICS: ["newton_mjwarp", "physx"],
PresetTarget.DOMAIN: ["newton_mjwarp", "ovphysx", "physx"],
}
)
assert formatted == "**physics=** ``newton_mjwarp``, ``physx``"
assert "ovphysx" not in formatted
def test_format_presets_rst_keeps_ovphysx_on_physics():
formatted = format_presets_rst(
{
PresetTarget.PHYSICS: ["newton_kamino", "newton_mjwarp", "ovphysx", "physx"],
PresetTarget.DOMAIN: ["newton_mjwarp", "physx"],
}
)
assert formatted == "**physics=** ``newton_kamino``, ``newton_mjwarp``, ``ovphysx``, ``physx``"
def test_physics_names_for_docs_infers_physx_from_default():
names = _physics_names_for_docs(
"Isaac-Velocity-Flat-G1-v0",
{PresetTarget.PHYSICS: ["newton_mjwarp"], PresetTarget.DOMAIN: [], PresetTarget.RENDERER: []},
)
assert names == ["newton_mjwarp", "physx"]
def test_collect_environment_doc_rows_from_mock_specs():
specs = [
EnvSpec(
id="Isaac-Cartpole-Direct-v0",
entry_point="isaaclab_tasks.direct.cartpole.cartpole_env:CartpoleEnv",
kwargs={
"env_cfg_entry_point": "cfg:CartpoleEnvCfg",
"rl_games_cfg_entry_point": "agents:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": "agents.rsl_rl_ppo_cfg:CartpolePPORunnerCfg",
"skrl_cfg_entry_point": "agents:skrl_ppo_cfg.yaml",
"sb3_cfg_entry_point": "agents:sb3_ppo_cfg.yaml",
},
),
EnvSpec(
id="Isaac-Cartpole-Direct-Play-v0",
entry_point="isaaclab_tasks.direct.cartpole.cartpole_env:CartpoleEnv",
kwargs={"env_cfg_entry_point": "cfg:CartpoleEnvCfg_PLAY"},
),
]
rows = collect_environment_doc_rows(specs)
assert len(rows) == 1
assert rows[0].task_name == "Isaac-Cartpole-Direct-v0"
assert rows[0].inference_task_name == "Isaac-Cartpole-Direct-Play-v0"
assert rows[0].workflow == "Direct"
assert "sb3" in rows[0].rl_libraries
def test_collect_environment_doc_rows_applies_rlinf_override():
specs = [
EnvSpec(
id="Isaac-Assemble-Trocar-G129-Dex3-v0",
entry_point="isaaclab.envs:ManagerBasedRLEnv",
kwargs={"env_cfg_entry_point": "cfg:G1AssembleTrocarEnvCfg"},
),
]
rows = collect_environment_doc_rows(specs)
assert rows[0].rl_libraries == "**rlinf** (PPO)"
def test_format_presets_rst_returns_empty_string_when_unavailable():
assert format_presets_rst(None) == ""
assert format_presets_rst({PresetTarget.PHYSICS: [], PresetTarget.RENDERER: [], PresetTarget.DOMAIN: []}) == ""
def test_format_rl_libraries_returns_empty_string_when_unavailable():
assert format_rl_libraries({}) == ""
def test_render_comprehensive_list_table_uses_blank_cells_for_missing_values():
table = render_comprehensive_list_table(
[
EnvironmentDocRow(
task_name="Isaac-Ant-v0",
inference_task_name=None,
workflow="Manager Based",
rl_libraries="",
presets="",
)
]
)
assert "Isaac-Ant-v0" in table
assert " - -\n" not in table
assert " -\n - Manager Based" in table
def test_render_comprehensive_list_table_uses_narrower_task_column_width():
table = render_comprehensive_list_table([])
assert ":widths: 18 17 10 22 33" in table
def test_patch_environments_rst_replaces_marked_section():
original = (
"Header\n\n"
f"{COMPREHENSIVE_LIST_START_MARKER}\n\n"
".. list-table::\n"
" old\n\n"
f"{COMPREHENSIVE_LIST_END_MARKER}\n"
"Footer"
)
updated = patch_environments_rst(original, ".. list-table::\n new")
assert "old" not in updated
assert ".. list-table::\n new" in updated
assert updated.endswith("Footer")
def test_render_comprehensive_list_table_includes_header():
table = render_comprehensive_list_table(
[
collect_environment_doc_rows(
[
EnvSpec(
id="Isaac-Cartpole-v0",
entry_point="isaaclab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": "cfg:CartpoleEnvCfg",
"rsl_rl_cfg_entry_point": "agents.rsl_rl_ppo_cfg:CartpolePPORunnerCfg",
},
)
]
)[0]
]
)
assert "**Task Name**" in table
assert "Isaac-Cartpole-v0" in table
assert format_rl_libraries({"rsl_rl": ["PPO"]}) in table
|