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406662d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 | # 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
"""Launch Isaac Sim Simulator first."""
import sys
# Import pinocchio in the main script to force the use of the dependencies
# installed by IsaacLab and not the one installed by Isaac Sim.
# pinocchio is required by the Pink IK controller
if sys.platform != "win32":
import pinocchio # noqa: F401
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
import isaaclab_tasks # noqa: F401
# Local imports should be imported last
from env_test_utils import _run_environments, setup_environment # isort: skip
@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)
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