Split Direct MARL space and lifecycle tests

source/isaaclab/changelog.d/core-test-direct-marl.skip

@@ -0,0 +1 @@
+Test-only change

source/isaaclab/test/envs/test_direct_marl_env.py

@@ -20,62 +20,28 @@
 import pytest
 
 import isaaclab.sim as sim_utils
-from isaaclab.envs import DirectMARLEnv, DirectMARLEnvCfg
-from isaaclab.scene import InteractiveSceneCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.envs import DirectMARLEnv
+from isaaclab.test.env_cfgs import make_empty_direct_marl_env_cfg
 
 pytestmark = pytest.mark.integration
 
 
-@configclass
-class EmptySceneCfg(InteractiveSceneCfg):
-    """Configuration for an empty scene."""
-
-    pass
-
-
-def get_empty_base_env_cfg(device: str = "cuda:0", num_envs: int = 1, env_spacing: float = 1.0):
-    """Generate base environment config based on device"""
-
-    @configclass
-    class EmptyEnvCfg(DirectMARLEnvCfg):
-        """Configuration for the empty test environment."""
-
-        # Scene settings
-        scene: EmptySceneCfg = EmptySceneCfg(num_envs=num_envs, env_spacing=env_spacing)
-        # Basic settings
-        decimation = 1
-        possible_agents = ["agent_0", "agent_1"]
-        action_spaces = {"agent_0": 1, "agent_1": 2}
-        observation_spaces = {"agent_0": 3, "agent_1": 4}
-        state_space = -1
-        episode_length_s = 100.0
-
-    return EmptyEnvCfg()
-
-
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
-def test_initialization(device):
-    """Test initialization of DirectMARLEnv."""
-    # create a new stage
+def test_initialization_and_close(device):
+    """DirectMARLEnv initializes its spaces and releases its simulation context."""
     sim_utils.create_new_stage()
-    try:
-        # create environment
-        env = DirectMARLEnv(cfg=get_empty_base_env_cfg(device=device))
-    except Exception as e:
-        if "env" in locals() and hasattr(env, "_is_closed"):
-            env.close()
-        else:
-            if hasattr(e, "obj") and hasattr(e.obj, "_is_closed"):
-                e.obj.close()
-        pytest.fail(f"Failed to set-up the DirectMARLEnv environment. Error: {e}")
+    env = DirectMARLEnv(cfg=make_empty_direct_marl_env_cfg(device=device))
 
-    # check multi-agent config
-    assert env.num_agents == 2
-    assert env.max_num_agents == 2
-    # check spaces
-    assert env.state_space.shape == (7,)
-    assert len(env.observation_spaces) == 2
-    assert len(env.action_spaces) == 2
-    # close the environment
-    env.close()
+    try:
+        assert not env._is_closed
+        assert sim_utils.SimulationContext.instance() is env.sim
+        assert env.num_agents == 2
+        assert env.max_num_agents == 2
+        assert len(env.observation_spaces) == 2
+        assert len(env.action_spaces) == 2
+        assert env.state_space.shape == (7,)
+    finally:
+        env.close()
+
+    assert env._is_closed
+    assert sim_utils.SimulationContext.instance() is None

source/isaaclab/test/envs/test_direct_marl_env_spaces.py

@@ -0,0 +1,47 @@
+# 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
+
+# ignore private usage of variables warning
+# pyright: reportPrivateUsage=none
+
+"""Unit tests for direct multi-agent environment space construction."""
+
+from __future__ import annotations
+
+from types import SimpleNamespace
+
+import gymnasium as gym
+import pytest
+
+from isaaclab.envs import DirectMARLEnv
+from isaaclab.test.env_cfgs import make_empty_direct_marl_env_cfg
+
+pytestmark = pytest.mark.unit
+
+
+def test_agent_and_space_configuration():
+    """Agent counts and spaces are configured without initializing the simulator."""
+    env = object.__new__(DirectMARLEnv)
+    env._is_closed = True
+    env.cfg = make_empty_direct_marl_env_cfg(device="cpu")
+    env.scene = SimpleNamespace(num_envs=env.cfg.scene.num_envs)
+    env.sim = SimpleNamespace(device=env.cfg.sim.device)
+
+    env._configure_env_spaces()
+
+    assert env.agents == ["agent_0", "agent_1"]
+    assert env.possible_agents == ["agent_0", "agent_1"]
+    assert env.num_agents == 2
+    assert env.max_num_agents == 2
+    assert len(env.observation_spaces) == 2
+    assert len(env.action_spaces) == 2
+    assert all(isinstance(space, gym.spaces.Box) for space in env.observation_spaces.values())
+    assert all(isinstance(space, gym.spaces.Box) for space in env.action_spaces.values())
+    assert env.observation_spaces["agent_0"].shape == (3,)
+    assert env.observation_spaces["agent_1"].shape == (4,)
+    assert env.action_spaces["agent_0"].shape == (1,)
+    assert env.action_spaces["agent_1"].shape == (2,)
+    assert isinstance(env.state_space, gym.spaces.Box)
+    assert env.state_space.shape == (7,)