Template generator #3938
There are no files selected for viewing
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change | ||||||
|---|---|---|---|---|---|---|---|---|
|
|
@@ -708,7 +708,11 @@ while [[ $# -gt 0 ]]; do | |||||||
| echo "[INFO] Installing template dependencies..." | ||||||||
| ${pip_command} -q -r ${ISAACLAB_PATH}/tools/template/requirements.txt | ||||||||
| echo -e "\n[INFO] Running template generator...\n" | ||||||||
| if [[ " $* " == *" --non-interactive "* ]]; then | ||||||||
| ${python_exe} ${ISAACLAB_PATH}/tools/template/cli.py --non-interactive $@ | ||||||||
|
Comment on lines
+711
to
+712
There was a problem hiding this comment. logic:
Suggested change
|
||||||||
| else | ||||||||
| ${python_exe} ${ISAACLAB_PATH}/tools/template/cli.py $@ | ||||||||
| fi | ||||||||
| # exit neatly | ||||||||
| break | ||||||||
| ;; | ||||||||
|
|
||||||||
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
|
|
@@ -3,6 +3,7 @@ | |
| # | ||
| # SPDX-License-Identifier: BSD-3-Clause | ||
|
|
||
| import argparse | ||
| import enum | ||
| import importlib | ||
| import os | ||
|
|
@@ -148,44 +149,79 @@ def main() -> None: | |
| """Main function to run template generation from CLI.""" | ||
| cli_handler = CLIHandler() | ||
|
|
||
| parser = argparse.ArgumentParser(add_help=True) | ||
| parser.add_argument("-n", "--non-interactive", action="store_true") | ||
| parser.add_argument("--rl-library", dest="rl_library", type=str, default=None) | ||
| parser.add_argument("--rl-algorithm", dest="rl_algorithm", type=str, default=None) | ||
| parser.add_argument( | ||
| "--task-type", | ||
| dest="task_type", | ||
| type=str, | ||
| choices=["External", "Internal", "external", "internal"], | ||
| default=None, | ||
| ) | ||
| parser.add_argument("--project-path", dest="project_path", type=str, default=None) | ||
| parser.add_argument("--project-name", dest="project_name", type=str, default=None) | ||
| parser.add_argument("--workflow", dest="workflow", type=str, default=None) | ||
| args = parser.parse_args() | ||
|
|
||
| lab_module = importlib.import_module("isaaclab") | ||
| lab_path = os.path.realpath(getattr(lab_module, "__file__", "") or (getattr(lab_module, "__path__", [""])[0])) | ||
| is_lab_pip_installed = ("site-packages" in lab_path) or ("dist-packages" in lab_path) | ||
|
|
||
| if not is_lab_pip_installed: | ||
| # project type | ||
| if args.non_interactive: | ||
| if args.task_type is not None: | ||
| is_external_project = args.task_type.lower() == "external" | ||
| else: | ||
| is_external_project = True | ||
| else: | ||
| is_external_project = ( | ||
| cli_handler.input_select( | ||
| "Task type:", | ||
| choices=["External", "Internal"], | ||
| long_instruction=( | ||
| "External (recommended): task/project is in its own folder/repo outside the Isaac Lab" | ||
| " project.\nInternal: the task is implemented within the Isaac Lab project (in" | ||
| " source/isaaclab_tasks)." | ||
| ), | ||
| ).lower() | ||
| == "external" | ||
| ) | ||
| else: | ||
| is_external_project = True | ||
|
|
||
| # project path (if 'external') | ||
| project_path = None | ||
| if is_external_project: | ||
| if args.non_interactive: | ||
| project_path = args.project_path | ||
| if project_path is None: | ||
| raise SystemExit("In non-interactive mode, --project_path is required for External task type.") | ||
| if os.path.abspath(project_path).startswith(os.path.abspath(ROOT_DIR)): | ||
| raise SystemExit("External project path cannot be within the Isaac Lab project") | ||
klakhi marked this conversation as resolved.
Show resolved
Hide resolved
|
||
| else: | ||
| project_path = cli_handler.input_path( | ||
| "Project path:", | ||
| default=os.path.dirname(ROOT_DIR) + os.sep, | ||
| validate=lambda path: not os.path.abspath(path).startswith(os.path.abspath(ROOT_DIR)), | ||
| invalid_message="External project path cannot be within the Isaac Lab project", | ||
| ) | ||
|
|
||
| # project/task name | ||
| if args.non_interactive: | ||
| project_name = args.project_name | ||
| if project_name is None or not project_name.isidentifier(): | ||
| raise SystemExit("In non-interactive mode, --project_name is required and must be a valid identifier") | ||
| else: | ||
| project_name = cli_handler.input_text( | ||
| "Project name:" if is_external_project else "Task's folder name:", | ||
| validate=lambda name: name.isidentifier(), | ||
| invalid_message=( | ||
| "Project/task name must be a valid identifier (Letters, numbers and underscores only. No spaces, etc.)" | ||
| ), | ||
| ) | ||
|
|
||
| # Isaac Lab workflow | ||
| # - show supported workflows and features | ||
|
|
@@ -199,10 +235,23 @@ def main() -> None: | |
| cli_handler.output_table(workflow_table) | ||
| # - prompt for workflows | ||
| supported_workflows = ["Direct | single-agent", "Direct | multi-agent", "Manager-based | single-agent"] | ||
| if args.non_interactive: | ||
| if args.workflow is not None: | ||
| selected_workflows = [item.strip() for item in args.workflow.split(",") if item.strip()] | ||
| if any(item.lower() == "all" for item in selected_workflows): | ||
| workflow = supported_workflows | ||
| else: | ||
| selected_workflows = [item for item in selected_workflows if item in supported_workflows] | ||
| if not selected_workflows: | ||
| raise SystemExit("No valid --workflow provided for the selected workflows") | ||
| workflow = selected_workflows | ||
| else: | ||
| workflow = supported_workflows | ||
| else: | ||
| workflow = cli_handler.get_choices( | ||
| cli_handler.input_checkbox("Isaac Lab workflow:", choices=[*supported_workflows, "---", "all"]), | ||
| default=supported_workflows, | ||
| ) | ||
| workflow = [{"name": item.split(" | ")[0].lower(), "type": item.split(" | ")[1].lower()} for item in workflow] | ||
| single_agent_workflow = [item for item in workflow if item["type"] == "single-agent"] | ||
| multi_agent_workflow = [item for item in workflow if item["type"] == "multi-agent"] | ||
|
|
@@ -233,20 +282,48 @@ def main() -> None: | |
| cli_handler.output_table(rl_library_table) | ||
| # - prompt for RL libraries | ||
| supported_rl_libraries = ["rl_games", "rsl_rl", "skrl", "sb3"] if len(single_agent_workflow) else ["skrl"] | ||
| if args.non_interactive: | ||
| if args.rl_library is not None: | ||
| selected_rl_libraries_raw = [item.strip() for item in args.rl_library.split(",") if item.strip()] | ||
| if any(item.lower() == "all" for item in selected_rl_libraries_raw): | ||
| selected_rl_libraries = supported_rl_libraries | ||
| else: | ||
| selected_rl_libraries = [item for item in selected_rl_libraries_raw if item in supported_rl_libraries] | ||
| if not selected_rl_libraries: | ||
| raise SystemExit("No valid --rl_library provided for the selected workflows") | ||
| else: | ||
| selected_rl_libraries = supported_rl_libraries | ||
| else: | ||
| selected_rl_libraries = cli_handler.get_choices( | ||
| cli_handler.input_checkbox("RL library:", choices=[*supported_rl_libraries, "---", "all"]), | ||
| default=supported_rl_libraries, | ||
| ) | ||
| # - prompt for algorithms per RL library | ||
| algorithms_per_rl_library = get_algorithms_per_rl_library( | ||
| bool(len(single_agent_workflow)), bool(len(multi_agent_workflow)) | ||
| ) | ||
| for rl_library in selected_rl_libraries: | ||
| algorithms = algorithms_per_rl_library.get(rl_library, []) | ||
| if args.non_interactive: | ||
| if args.rl_algorithm is not None: | ||
| provided_algorithms = [item.strip().lower() for item in args.rl_algorithm.split(",") if item.strip()] | ||
| if "all" in provided_algorithms: | ||
| selected_algorithms = [item.lower() for item in algorithms] | ||
| else: | ||
| valid_algorithms = [item for item in provided_algorithms if item in [a.lower() for a in algorithms]] | ||
| if not valid_algorithms: | ||
| raise SystemExit(f"No valid --rl_algorithm provided for library '{rl_library}'") | ||
| selected_algorithms = valid_algorithms | ||
| else: | ||
| selected_algorithms = [item.lower() for item in algorithms] | ||
|
Comment on lines
+307
to
+318
There was a problem hiding this comment. logic: Same When multiple RL libraries are selected, the same Example: User passes |
||
| else: | ||
| if len(algorithms) > 1: | ||
| algorithms = cli_handler.get_choices( | ||
| cli_handler.input_checkbox(f"RL algorithms for {rl_library}:", choices=[*algorithms, "---", "all"]), | ||
| default=algorithms, | ||
| ) | ||
| selected_algorithms = [item.lower() for item in algorithms] | ||
| rl_library_algorithms.append({"name": rl_library, "algorithms": selected_algorithms}) | ||
|
|
||
| specification = { | ||
| "external": is_external_project, | ||
|
|
||
Oops, something went wrong.
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
logic:
--non-interactiveflag is passed twice when already present in!allArgs!