Adds test fixture to run RL training over subset of envs (#1912)

# Description

This MR adds a script to run training over a subset of environments. I
have mostly checked this for rsl-rl library.

The script adds the commit tag as a run name allowing us to compare
different versions of code nicely.

## Type of change

- New feature (non-breaking change which adds functionality)

## Screenshots

Example tensorboard log:

```bash
./isaaclab.sh -p tools/run_train_envs.py --lib-name rsl_rl
```


![image](https://github.com/user-attachments/assets/b065bef6-b149-41e7-a5b3-5d98df5c766b)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------

Signed-off-by: Mayank Mittal <[email protected]>

Author: Mayankm96

tools/per_test_timeouts.py

@@ -32,14 +32,7 @@
 from prettytable import PrettyTable
 
 # Local imports
-from per_test_timeouts import PER_TEST_TIMEOUTS
-from tests_to_skip import TESTS_TO_SKIP
-
-ISAACLAB_PATH = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-"""Path to the root directory of the Isaac Lab repository."""
-
-DEFAULT_TIMEOUT = 120
-"""The default timeout for each test in seconds."""
+from test_settings import DEFAULT_TIMEOUT, ISAACLAB_PATH, PER_TEST_TIMEOUTS, TESTS_TO_SKIP
 
 
 def parse_args() -> argparse.Namespace:

tools/run_all_tests.py

@@ -0,0 +1,79 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""
+This scripts run training with different RL libraries over a subset of the environments.
+
+It calls the script ``scripts/reinforcement_learning/${args.lib_name}/train.py`` with the appropriate arguments.
+Each training run has the corresponding "commit tag" appended to the run name, which allows comparing different
+training logs of the same environments.
+
+Example usage:
+
+.. code-block:: bash
+    # for rsl-rl
+    python run_train_envs.py --lib-name rsl_rl
+
+"""
+
+import argparse
+import subprocess
+
+from test_settings import ISAACLAB_PATH, TEST_RL_ENVS
+
+
+def parse_args() -> argparse.Namespace:
+    """Parse the command line arguments."""
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--lib-name",
+        type=str,
+        default="rsl_rl",
+        choices=["rsl_rl", "skrl", "rl_games", "sb3"],
+        help="The name of the library to use for training.",
+    )
+    return parser.parse_args()
+
+
+def main(args: argparse.Namespace):
+    """The main function."""
+    # get the git commit hash
+    git_commit_hash = subprocess.check_output(["git", "rev-parse", "HEAD"]).decode("utf-8").strip()
+
+    # add run name based on library
+    if args.lib_name == "rsl_rl":
+        extra_args = ["--run_name", git_commit_hash]
+    else:
+        # TODO: Modify this for other libraries as well to have commit tag in their saved run logs
+        extra_args = []
+
+    # train on each environment
+    for env_name in TEST_RL_ENVS:
+        # print a colored output to catch the attention of the user
+        # this should be a multi-line print statement
+        print("\033[91m==============================================\033[0m")
+        print("\033[91m==============================================\033[0m")
+        print(f"\033[91mTraining on {env_name} with {args.lib_name}...\033[0m")
+        print("\033[91m==============================================\033[0m")
+        print("\033[91m==============================================\033[0m")
+
+        # run the training script
+        subprocess.run(
+            [
+                f"{ISAACLAB_PATH}/isaaclab.sh",
+                "-p",
+                f"{ISAACLAB_PATH}/scripts/reinforcement_learning/{args.lib_name}/train.py",
+                "--task",
+                env_name,
+                "--headless",
+            ]
+            + extra_args,
+            check=False,  # do not raise an error if the script fails
+        )
+
+
+if __name__ == "__main__":
+    args_cli = parse_args()
+    main(args_cli)

tools/run_train_envs.py

@@ -0,0 +1,66 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""
+This file contains the settings for the tests.
+"""
+
+import os
+
+ISAACLAB_PATH = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+"""Path to the root directory of the Isaac Lab repository."""
+
+DEFAULT_TIMEOUT = 120
+"""The default timeout for each test in seconds."""
+
+PER_TEST_TIMEOUTS = {
+    "test_articulation.py": 200,
+    "test_deformable_object.py": 200,
+    "test_environments.py": 1650,  # This test runs through all the environments for 100 steps each
+    "test_environment_determinism.py": 200,  # This test runs through many the environments for 100 steps each
+    "test_factory_environments.py": 300,  # This test runs through Factory environments for 100 steps each
+    "test_env_rendering_logic.py": 300,
+    "test_camera.py": 500,
+    "test_tiled_camera.py": 300,
+    "test_generate_dataset.py": 300,  # This test runs annotation for 10 demos and generation until one succeeds
+    "test_rsl_rl_wrapper.py": 200,
+    "test_sb3_wrapper.py": 200,
+    "test_skrl_wrapper.py": 200,
+    "test_operational_space.py": 300,
+    "test_terrain_importer.py": 200,
+}
+"""A dictionary of tests and their timeouts in seconds.
+
+Note: Any tests not listed here will use the default timeout.
+"""
+
+TESTS_TO_SKIP = [
+    # lab
+    "test_argparser_launch.py",  # app.close issue
+    "test_build_simulation_context_nonheadless.py",  # headless
+    "test_env_var_launch.py",  # app.close issue
+    "test_kwarg_launch.py",  # app.close issue
+    "test_differential_ik.py",  # Failing
+    # lab_tasks
+    "test_record_video.py",  # Failing
+    "test_tiled_camera_env.py",  # Need to improve the logic
+]
+"""A list of tests to skip by run_tests.py"""
+
+TEST_RL_ENVS = [
+    # classic control
+    "Isaac-Ant-v0",
+    "Isaac-Cartpole-v0",
+    # manipulation
+    "Isaac-Lift-Cube-Franka-v0",
+    "Isaac-Open-Drawer-Franka-v0",
+    # dexterous manipulation
+    "Isaac-Repose-Cube-Allegro-v0",
+    # locomotion
+    "Isaac-Velocity-Flat-Unitree-Go2-v0",
+    "Isaac-Velocity-Rough-Anymal-D-v0",
+    "Isaac-Velocity-Rough-G1-v0",
+]
+"""A list of RL environments to test training on by run_train_envs.py"""