File size: 2,794 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 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 | # 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
"""
This file contains the settings for the tests.
"""
import os
ISAACLAB_PATH = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
"""Path to the root directory of the Isaac Lab repository."""
DEFAULT_TIMEOUT = 300
"""The default timeout for each test in seconds."""
PER_TEST_TIMEOUTS = {
"test_articulation.py": 500,
"test_stage_in_memory.py": 500,
"test_environments.py": 2500, # This test runs through all the environments for 100 steps each
"test_environments_with_stage_in_memory.py": (
2500
), # Like the above, with stage in memory and with and without fabric cloning
"test_environment_determinism.py": 1000, # This test runs through many the environments for 100 steps each
"test_factory_environments.py": 1000, # This test runs through Factory environments for 100 steps each
"test_multi_agent_environments.py": 800, # This test runs through multi-agent environments for 100 steps each
"test_generate_dataset.py": 500, # This test runs annotation for 10 demos and generation until one succeeds
"test_pink_ik.py": 1000, # This test runs through all the pink IK environments through various motions
"test_environments_training.py": (
6000
), # This test runs through training for several environments and compares thresholds
"test_simulation_render_config.py": 500,
"test_operational_space.py": 500,
"test_non_headless_launch.py": 1000, # This test launches the app in non-headless mode and starts simulation
"test_rl_games_wrapper.py": 500,
"test_skrl_wrapper.py": 500,
}
"""A dictionary of tests and their timeouts in seconds.
Note: Any tests not listed here will use the default timeout.
"""
TESTS_TO_SKIP = [
# lab
"test_argparser_launch.py", # app.close issue
"test_build_simulation_context_nonheadless.py", # headless
"test_env_var_launch.py", # app.close issue
"test_kwarg_launch.py", # app.close issue
"test_differential_ik.py", # Failing
# lab_tasks
"test_record_video.py", # Failing
"test_tiled_camera_env.py", # Need to improve the logic
]
"""A list of tests to skip by run_tests.py"""
TEST_RL_ENVS = [
# classic control
"Isaac-Ant-v0",
"Isaac-Cartpole-v0",
# manipulation
"Isaac-Lift-Cube-Franka-v0",
"Isaac-Open-Drawer-Franka-v0",
# dexterous manipulation
"Isaac-Repose-Cube-Allegro-v0",
# locomotion
"Isaac-Velocity-Flat-Unitree-Go2-v0",
"Isaac-Velocity-Rough-Anymal-D-v0",
"Isaac-Velocity-Rough-G1-v0",
]
"""A list of RL environments to test training on by run_train_envs.py"""
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