File size: 1,203 Bytes
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 | # 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."""
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 _check_random_actions, setup_environment # isort: skip
@pytest.mark.parametrize("num_envs, device", [(32, "cuda"), (1, "cuda")])
@pytest.mark.parametrize("task_name", setup_environment(multi_agent=True))
def test_environments(task_name, num_envs, device):
"""Run all environments with given parameters and check environments return valid signals."""
print(f">>> Running test for environment: {task_name} with num_envs={num_envs} and device={device}")
# check environment
_check_random_actions(task_name, device, num_envs, multi_agent=True)
# close the environment
print(f">>> Closing environment: {task_name}")
print("-" * 80)
|