Adds CI tests for template generator

source/isaaclab_rl/test/test_template_generator.py

@@ -0,0 +1,252 @@
+# 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
+
+from __future__ import annotations
+
+import importlib.util
+import sys
+from pathlib import Path
+
+import gymnasium as gym
+import pytest
+
+ROOT_DIR = Path(__file__).resolve().parents[3]
+TEMPLATE_TOOL_DIR = ROOT_DIR / "tools" / "template"
+sys.path.insert(0, str(TEMPLATE_TOOL_DIR))
+
+import generator  # noqa: E402
+from generator import generate, get_algorithms_per_rl_library  # noqa: E402
+
+_SINGLE_AGENT_RL_LIBRARIES = [
+    {"name": "rl_games", "algorithms": ["ppo"]},
+    {"name": "rsl_rl", "algorithms": ["ppo"]},
+    {"name": "skrl", "algorithms": ["amp", "ppo"]},
+    {"name": "sb3", "algorithms": ["ppo"]},
+]
+
+_MULTI_AGENT_RL_LIBRARIES = [
+    {"name": "skrl", "algorithms": ["ippo", "mappo"]},
+]
+
+
+def _task_name(project_name: str) -> str:
+    """Return the generated task name stem for a project name."""
+    return "-".join(item.capitalize() for item in project_name.split("_"))
+
+
+def _task_folder(project_name: str, workflow_type: str) -> str:
+    """Return the generated task folder name for a project name."""
+    task_name = _task_name(project_name)
+    if workflow_type == "multi-agent":
+        task_name += "-Marl"
+    return task_name.replace("-", "_").lower()
+
+
+def _task_class(project_name: str, workflow_type: str) -> str:
+    """Return the generated task class stem for a project name."""
+    task_name = _task_name(project_name)
+    if workflow_type == "multi-agent":
+        task_name += "-Marl"
+    return task_name.replace("-", "")
+
+
+def _task_id(project_name: str, workflow_name: str, workflow_type: str, external: bool) -> str:
+    """Return the generated Gym task id."""
+    prefix = "Template" if external else "Isaac"
+    task_name = _task_name(project_name)
+    if workflow_type == "multi-agent":
+        task_name += "-Marl"
+    if workflow_name == "direct":
+        return f"{prefix}-{task_name}-Direct-v0"
+    return f"{prefix}-{task_name}-v0"
+
+
+def _task_dir(root_dir: Path, project_name: str, workflow_name: str, workflow_type: str, external: bool) -> Path:
+    """Return the generated task directory."""
+    tasks_dir = root_dir
+    if external:
+        tasks_dir = root_dir / project_name / "source" / project_name / project_name / "tasks"
+    return tasks_dir / workflow_name.replace("-", "_") / _task_folder(project_name, workflow_type)
+
+
+def _load_registration_module(task_dir: Path, module_name: str) -> None:
+    """Execute a generated task registration module without importing its parent package."""
+    spec = importlib.util.spec_from_file_location(
+        module_name, task_dir / "__init__.py", submodule_search_locations=[str(task_dir)]
+    )
+    assert spec is not None
+    assert spec.loader is not None
+
+    module = importlib.util.module_from_spec(spec)
+    sys.modules[module_name] = module
+    try:
+        spec.loader.exec_module(module)
+    finally:
+        for name in list(sys.modules):
+            if name == module_name or name.startswith(f"{module_name}."):
+                sys.modules.pop(name, None)
+
+
+def _unregister(task_id: str) -> None:
+    """Remove a generated Gym task id from the process-local registry."""
+    gym.envs.registration.registry.pop(task_id, None)
+
+
+@pytest.mark.parametrize(
+    ("single_agent", "multi_agent", "expected"),
+    [
+        (
+            True,
+            False,
+            {
+                "rl_games": ["PPO"],
+                "rsl_rl": ["PPO"],
+                "skrl": ["AMP", "PPO"],
+                "sb3": ["PPO"],
+            },
+        ),
+        (
+            False,
+            True,
+            {
+                "rl_games": [],
+                "rsl_rl": [],
+                "skrl": ["IPPO", "MAPPO"],
+                "sb3": [],
+            },
+        ),
+        (
+            True,
+            True,
+            {
+                "rl_games": ["PPO"],
+                "rsl_rl": ["PPO"],
+                "skrl": ["AMP", "IPPO", "MAPPO", "PPO"],
+                "sb3": ["PPO"],
+            },
+        ),
+    ],
+)
+def test_get_algorithms_per_rl_library_filters_by_workflow_type(single_agent, multi_agent, expected):
+    """Check that the CLI-facing algorithm discovery matches supported workflow types."""
+    assert get_algorithms_per_rl_library(single_agent=single_agent, multi_agent=multi_agent) == expected
+
+
+@pytest.mark.parametrize("external", [False, True])
+def test_generator_registers_single_agent_rl_config_entry_points_for_all_libraries(tmp_path, monkeypatch, external):
+    """Generate single-agent tasks and verify every RL library gets the registry key its train script expects."""
+    project_name = f"template_single_{'external' if external else 'internal'}"
+    root_dir = tmp_path / ("external_root" if external else "internal_tasks")
+    monkeypatch.setattr(generator, "_setup_git_repo", lambda project_dir: None)
+    if not external:
+        monkeypatch.setattr(generator, "TASKS_DIR", str(root_dir))
+
+    specification = {
+        "external": external,
+        "name": project_name,
+        "workflows": [
+            {"name": "manager-based", "type": "single-agent"},
+            {"name": "direct", "type": "single-agent"},
+        ],
+        "rl_libraries": _SINGLE_AGENT_RL_LIBRARIES,
+    }
+    if external:
+        specification["path"] = str(root_dir)
+
+    generate(specification)
+
+    for workflow_name in ["manager-based", "direct"]:
+        workflow_type = "single-agent"
+        task_id = _task_id(project_name, workflow_name, workflow_type, external)
+        task_dir = _task_dir(root_dir, project_name, workflow_name, workflow_type, external)
+        module_name = f"_template_test_{project_name}_{workflow_name.replace('-', '_')}"
+        _unregister(task_id)
+        _load_registration_module(task_dir, module_name)
+
+        spec = gym.spec(task_id)
+        task_folder = _task_folder(project_name, workflow_type)
+        task_class = _task_class(project_name, workflow_type)
+        agents_module = f"{module_name}.agents"
+
+        if workflow_name == "direct":
+            assert spec.entry_point == f"{module_name}.{task_folder}_env:{task_class}Env"
+        else:
+            assert spec.entry_point == "isaaclab.envs:ManagerBasedRLEnv"
+
+        assert spec.kwargs["env_cfg_entry_point"] == f"{module_name}.{task_folder}_env_cfg:{task_class}EnvCfg"
+        assert spec.kwargs["rl_games_cfg_entry_point"] == f"{agents_module}:rl_games_ppo_cfg.yaml"
+        assert spec.kwargs["rsl_rl_cfg_entry_point"] == f"{agents_module}.rsl_rl_ppo_cfg:PPORunnerCfg"
+        assert spec.kwargs["skrl_amp_cfg_entry_point"] == f"{agents_module}:skrl_amp_cfg.yaml"
+        assert spec.kwargs["skrl_cfg_entry_point"] == f"{agents_module}:skrl_ppo_cfg.yaml"
+        assert spec.kwargs["sb3_cfg_entry_point"] == f"{agents_module}:sb3_ppo_cfg.yaml"
+        assert "skrl_ppo_cfg_entry_point" not in spec.kwargs
+
+        _unregister(task_id)
+
+
+@pytest.mark.parametrize("external", [False, True])
+def test_generator_registers_multi_agent_skrl_config_entry_points(tmp_path, monkeypatch, external):
+    """Generate a multi-agent task and verify skrl IPPO/MAPPO registry keys."""
+    project_name = f"template_multi_{'external' if external else 'internal'}"
+    root_dir = tmp_path / ("external_root" if external else "internal_tasks")
+    monkeypatch.setattr(generator, "_setup_git_repo", lambda project_dir: None)
+    if not external:
+        monkeypatch.setattr(generator, "TASKS_DIR", str(root_dir))
+
+    specification = {
+        "external": external,
+        "name": project_name,
+        "workflows": [{"name": "direct", "type": "multi-agent"}],
+        "rl_libraries": _MULTI_AGENT_RL_LIBRARIES,
+    }
+    if external:
+        specification["path"] = str(root_dir)
+
+    generate(specification)
+
+    task_id = _task_id(project_name, "direct", "multi-agent", external)
+    task_dir = _task_dir(root_dir, project_name, "direct", "multi-agent", external)
+    module_name = f"_template_test_{project_name}_direct"
+    _unregister(task_id)
+    _load_registration_module(task_dir, module_name)
+
+    spec = gym.spec(task_id)
+    task_folder = _task_folder(project_name, "multi-agent")
+    task_class = _task_class(project_name, "multi-agent")
+    agents_module = f"{module_name}.agents"
+
+    assert spec.entry_point == f"{module_name}.{task_folder}_env:{task_class}Env"
+    assert spec.kwargs["env_cfg_entry_point"] == f"{module_name}.{task_folder}_env_cfg:{task_class}EnvCfg"
+    assert spec.kwargs["skrl_ippo_cfg_entry_point"] == f"{agents_module}:skrl_ippo_cfg.yaml"
+    assert spec.kwargs["skrl_mappo_cfg_entry_point"] == f"{agents_module}:skrl_mappo_cfg.yaml"
+    assert "skrl_cfg_entry_point" not in spec.kwargs
+
+    _unregister(task_id)
+
+
+def test_external_launch_configs_pass_skrl_algorithm_for_every_generated_skrl_agent(tmp_path, monkeypatch):
+    """Verify generated VS Code launch configs select the matching skrl algorithm."""
+    project_name = "template_launch_external"
+    root_dir = tmp_path / "external_root"
+    monkeypatch.setattr(generator, "_setup_git_repo", lambda project_dir: None)
+
+    generate(
+        {
+            "external": True,
+            "path": str(root_dir),
+            "name": project_name,
+            "workflows": [
+                {"name": "direct", "type": "single-agent"},
+                {"name": "direct", "type": "multi-agent"},
+            ],
+            "rl_libraries": [
+                {"name": "skrl", "algorithms": ["amp", "ppo", "ippo", "mappo"]},
+            ],
+        }
+    )
+
+    launch_config = (root_dir / project_name / ".vscode" / "tools" / "launch.template.json").read_text()
+    for algorithm in ["AMP", "PPO", "IPPO", "MAPPO"]:
+        assert f'"--algorithm", "{algorithm}"' in launch_config