wip

Author: yuecideng

tests/sim/objects/test_articulation.py

@@ -37,9 +37,10 @@ class BaseArticulationTest:
     """Shared test logic for CPU and CUDA."""
 
     def setup_simulation(self, sim_device):
-        config = SimulationManagerCfg(headless=True, sim_device=sim_device)
+        config = SimulationManagerCfg(
+            headless=True, sim_device=sim_device, num_envs=NUM_ARENAS
+        )
         self.sim = SimulationManager(config)
-        self.sim.build_multiple_arenas(NUM_ARENAS)
 
         art_path = get_data_path(ART_PATH)
         assert os.path.isfile(art_path)
@@ -194,7 +195,6 @@ def setup_method(self):
         self.setup_simulation("cpu")
 
 
-@pytest.mark.skip(reason="Skipping CUDA tests temporarily")
 class TestArticulationCUDA(BaseArticulationTest):
     def setup_method(self):
         self.setup_simulation("cuda")

tests/sim/objects/test_rigid_object.py

@@ -40,9 +40,10 @@ class BaseRigidObjectTest:
     """Shared test logic for CPU and CUDA."""
 
     def setup_simulation(self, sim_device):
-        config = SimulationManagerCfg(headless=True, sim_device=sim_device)
+        config = SimulationManagerCfg(
+            headless=True, sim_device=sim_device, num_envs=NUM_ARENAS
+        )
         self.sim = SimulationManager(config)
-        self.sim.build_multiple_arenas(NUM_ARENAS)
 
         duck_path = get_data_path(DUCK_PATH)
         assert os.path.isfile(duck_path)
@@ -300,7 +301,6 @@ def setup_method(self):
         self.setup_simulation("cpu")
 
 
-@pytest.mark.skip(reason="Skipping CUDA tests temporarily")
 class TestRigidObjectCUDA(BaseRigidObjectTest):
     def setup_method(self):
         self.setup_simulation("cuda")

tests/sim/objects/test_rigid_object_group.py

@@ -35,9 +35,10 @@ class BaseRigidObjectGroupTest:
     """Shared test logic for CPU and CUDA."""
 
     def setup_simulation(self, sim_device):
-        config = SimulationManagerCfg(headless=True, sim_device=sim_device)
+        config = SimulationManagerCfg(
+            headless=True, sim_device=sim_device, num_envs=NUM_ARENAS
+        )
         self.sim = SimulationManager(config)
-        self.sim.build_multiple_arenas(NUM_ARENAS)
 
         duck_path = get_data_path(DUCK_PATH)
         assert os.path.isfile(duck_path)
@@ -126,7 +127,6 @@ def setup_method(self):
 
 
 # TODO: Fix CUDA tests issue.
-@pytest.mark.skip(reason="Skipping CUDA tests temporarily")
 class TestRigidObjectGroupCUDA(BaseRigidObjectGroupTest):
     def setup_method(self):
         self.setup_simulation("cuda")

tests/sim/objects/test_robot.py

@@ -52,9 +52,8 @@
 class BaseRobotTest:
     def setup_simulation(self, sim_device):
         # Set up simulation with specified device (CPU or CUDA)
-        config = SimulationManagerCfg(headless=True, sim_device=sim_device)
+        config = SimulationManagerCfg(headless=True, sim_device=sim_device, num_envs=10)
         self.sim = SimulationManager(config)
-        self.sim.build_multiple_arenas(10)  # NUM_ARENAS = 10
 
         cfg = DexforceW1Cfg.from_dict(
             {
@@ -280,7 +279,6 @@ def setup_method(self):
         self.setup_simulation("cpu")
 
 
-@pytest.mark.skip(reason="Skipping CUDA tests temporarily")
 class TestRobotCUDA(BaseRobotTest):
     def setup_method(self):
         self.setup_simulation("cuda")