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Disables GPU testing for suction gripper environments #3373

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Merged
kellyguo11 merged 1 commit into from
Sep 7, 2025
Merged

Disables GPU testing for suction gripper environments #3373

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2 changes: 1 addition & 1 deletion source/isaaclab/test/assets/test_surface_gripper.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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6 changes: 6 additions & 0 deletions ...lab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py
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Expand Up @@ -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()

Expand Down Expand Up @@ -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")

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4 changes: 4 additions & 0 deletions source/isaaclab_tasks/test/env_test_utils.py
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Expand Up @@ -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",
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