File size: 3,074 Bytes
406662d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 | # 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
import json
import pytest
# Local imports should be imported last
import env_benchmark_test_utils as utils # isort: skip
# Global variable for storing KPI data
GLOBAL_KPI_STORE = {}
def pytest_addoption(parser):
parser.addoption(
"--workflows",
action="store",
nargs="+",
default=["rl_games", "rsl_rl", "sb3", "skrl"],
help="List of workflows. Must be equal to or a subset of the default list.",
)
parser.addoption(
"--config_path",
action="store",
default="configs.yaml",
help="Path to config file for environment training and evaluation.",
)
parser.addoption(
"--mode",
action="store",
default="fast",
help="Coverage mode defined in the config file.",
)
parser.addoption("--num_gpus", action="store", type=int, default=1, help="Number of GPUs for distributed training.")
parser.addoption(
"--save_kpi_payload",
action="store_true",
help="To collect output metrics into a KPI payload that can be uploaded to a dashboard.",
)
parser.addoption(
"--tag",
action="store",
default="",
help="Optional tag to add to the KPI payload for filtering on the Grafana dashboard.",
)
@pytest.fixture
def workflows(request):
return request.config.getoption("--workflows")
@pytest.fixture
def config_path(request):
return request.config.getoption("--config_path")
@pytest.fixture
def mode(request):
return request.config.getoption("--mode")
@pytest.fixture
def num_gpus(request):
return request.config.getoption("--num_gpus")
@pytest.fixture
def save_kpi_payload(request):
return request.config.getoption("--save_kpi_payload")
@pytest.fixture
def tag(request):
return request.config.getoption("--tag")
# Fixture for storing KPI data in a global variable
@pytest.fixture(scope="session")
def kpi_store():
return GLOBAL_KPI_STORE # Using global variable for storing KPI data
# This hook dynamically generates test cases based on the --workflows option.
# For any test that includes a 'workflow' fixture, this will parametrize it
# with all values passed via the command line option --workflows.
def pytest_generate_tests(metafunc):
if "workflow" in metafunc.fixturenames:
workflows = metafunc.config.getoption("workflows")
metafunc.parametrize("workflow", workflows)
# The pytest session finish hook
def pytest_sessionfinish(session, exitstatus):
# Access global variable instead of fixture
tag = session.config.getoption("--tag")
utils.process_kpi_data(GLOBAL_KPI_STORE, tag=tag)
print(json.dumps(GLOBAL_KPI_STORE, indent=2))
save_kpi_payload = session.config.getoption("--save_kpi_payload")
if save_kpi_payload:
print("Saving KPI data...")
utils.output_payloads(GLOBAL_KPI_STORE)
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