File size: 3,838 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
"""Launch Isaac Sim Simulator first."""
import sys
from isaaclab.app import AppLauncher
# launch the simulator
app_launcher = AppLauncher(headless=True)
simulation_app = app_launcher.app
"""Rest everything follows."""
import functools
from collections.abc import Callable
import hydra
from hydra import compose, initialize
from omegaconf import OmegaConf
from isaaclab.utils import replace_strings_with_slices
import isaaclab_tasks # noqa: F401
from isaaclab_tasks.utils.hydra import register_task_to_hydra
def hydra_task_config_test(task_name: str, agent_cfg_entry_point: str) -> Callable:
"""Copied from hydra.py hydra_task_config, since hydra.main requires a single point of entry,
which will not work with multiple tests. Here, we replace hydra.main with hydra initialize
and compose."""
def decorator(func):
@functools.wraps(func)
def wrapper(*args, **kwargs):
# register the task to Hydra
env_cfg, agent_cfg = register_task_to_hydra(task_name, agent_cfg_entry_point)
# replace hydra.main with initialize and compose
with initialize(config_path=None, version_base="1.3"):
hydra_env_cfg = compose(config_name=task_name, overrides=sys.argv[1:])
# convert to a native dictionary
hydra_env_cfg = OmegaConf.to_container(hydra_env_cfg, resolve=True)
# replace string with slices because OmegaConf does not support slices
hydra_env_cfg = replace_strings_with_slices(hydra_env_cfg)
# update the configs with the Hydra command line arguments
env_cfg.from_dict(hydra_env_cfg["env"])
if isinstance(agent_cfg, dict):
agent_cfg = hydra_env_cfg["agent"]
else:
agent_cfg.from_dict(hydra_env_cfg["agent"])
# call the original function
func(env_cfg, agent_cfg, *args, **kwargs)
return wrapper
return decorator
def test_hydra():
"""Test the hydra configuration system."""
# set hardcoded command line arguments
sys.argv = [
sys.argv[0],
"env.decimation=42", # test simple env modification
"env.events.physics_material.params.asset_cfg.joint_ids='slice(0 ,1, 2)'", # test slice setting
"env.scene.robot.init_state.joint_vel={.*: 4.0}", # test regex setting
"env.rewards.feet_air_time=null", # test setting to none
"agent.max_iterations=3", # test simple agent modification
]
@hydra_task_config_test("Isaac-Velocity-Flat-H1-v0", "rsl_rl_cfg_entry_point")
def main(env_cfg, agent_cfg):
# env
assert env_cfg.decimation == 42
assert env_cfg.events.physics_material.params["asset_cfg"].joint_ids == slice(0, 1, 2)
assert env_cfg.scene.robot.init_state.joint_vel == {".*": 4.0}
assert env_cfg.rewards.feet_air_time is None
# agent
assert agent_cfg.max_iterations == 3
main()
# clean up
sys.argv = [sys.argv[0]]
hydra.core.global_hydra.GlobalHydra.instance().clear()
def test_nested_iterable_dict():
"""Test the hydra configuration system when dict is nested in an Iterable."""
@hydra_task_config_test("Isaac-Lift-Cube-Franka-v0", "rsl_rl_cfg_entry_point")
def main(env_cfg, agent_cfg):
# env
assert env_cfg.scene.ee_frame.target_frames[0].name == "end_effector"
assert env_cfg.scene.ee_frame.target_frames[0].offset.pos[2] == 0.1034
main()
# clean up
sys.argv = [sys.argv[0]]
hydra.core.global_hydra.GlobalHydra.instance().clear()
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