From e1e6200e50c6f46b737991da38d7a308f8ec09f5 Mon Sep 17 00:00:00 2001 From: Kelly Guo Date: Sat, 6 Sep 2025 16:53:37 -0700 Subject: [PATCH] Disables GPU testing for suction gripper environments --- source/isaaclab/test/assets/test_surface_gripper.py | 2 +- .../stack/config/ur10_gripper/stack_joint_pos_env_cfg.py | 6 ++++++ source/isaaclab_tasks/test/env_test_utils.py | 4 ++++ 3 files changed, 11 insertions(+), 1 deletion(-) diff --git a/source/isaaclab/test/assets/test_surface_gripper.py b/source/isaaclab/test/assets/test_surface_gripper.py index 1c415e62c610..c2f81143f598 100644 --- a/source/isaaclab/test/assets/test_surface_gripper.py +++ b/source/isaaclab/test/assets/test_surface_gripper.py @@ -114,7 +114,7 @@ def generate_surface_gripper( for i in range(num_surface_grippers): prim_utils.create_prim(f"/World/Env_{i}", "Xform", translation=translations[i][:3]) articulation = Articulation(articulation_cfg.replace(prim_path="/World/Env_.*/Robot")) - surface_gripper_cfg = surface_gripper_cfg.replace(prim_expr="/World/Env_.*/Robot/Gripper/SurfaceGripper") + surface_gripper_cfg = surface_gripper_cfg.replace(prim_path="/World/Env_.*/Robot/Gripper/SurfaceGripper") surface_gripper = SurfaceGripper(surface_gripper_cfg) return surface_gripper, articulation, translations diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py index 86ee8665b6ef..467df1d4410f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py @@ -140,6 +140,9 @@ def __post_init__(self): # post init of parent super().__post_init__() + # Suction grippers currently require CPU simulation + self.device = "cpu" + # Set events self.events = EventCfgLongSuction() @@ -178,6 +181,9 @@ def __post_init__(self): # post init of parent super().__post_init__() + # Suction grippers currently require CPU simulation + self.device = "cpu" + # Set UR10 as robot self.scene.robot = UR10_SHORT_SUCTION_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot") diff --git a/source/isaaclab_tasks/test/env_test_utils.py b/source/isaaclab_tasks/test/env_test_utils.py index e946f1bb597b..23a92bab9c12 100644 --- a/source/isaaclab_tasks/test/env_test_utils.py +++ b/source/isaaclab_tasks/test/env_test_utils.py @@ -114,6 +114,10 @@ def _run_environments( if isaac_sim_version < 5 and create_stage_in_memory: pytest.skip("Stage in memory is not supported in this version of Isaac Sim") + # skip suction gripper environments as they require CPU simulation and cannot be run with GPU simulation + if "Suction" in task_name and device != "cpu": + return + # skip these environments as they cannot be run with 32 environments within reasonable VRAM if num_envs == 32 and task_name in [ "Isaac-Stack-Cube-Franka-IK-Rel-Blueprint-v0",