# Copyright (c) 2024-2026, The UW Lab Project Developers. (https://github.com/uw-lab/UWLab/blob/main/CONTRIBUTORS.md).
# All Rights Reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""Launch Isaac Sim Simulator first."""


from isaaclab.app import AppLauncher

# launch the simulator
app_launcher = AppLauncher(headless=True, enable_cameras=True)
simulation_app = app_launcher.app


"""Rest everything follows."""

import pytest
from env_test_utils import _run_environments, setup_environment

import uwlab_tasks  # noqa: F401


@pytest.mark.parametrize("num_envs, device", [(32, "cuda"), (1, "cuda")])
@pytest.mark.parametrize("task_name", setup_environment(include_play=False, factory_envs=False, multi_agent=False))
@pytest.mark.isaacsim_ci
def test_environments(task_name, num_envs, device):
    # run environments without stage in memory
    _run_environments(task_name, device, num_envs, create_stage_in_memory=False)