From 4a2ca2df3c3be55c12b757caf62ec5edc6883958 Mon Sep 17 00:00:00 2001 From: jichuanh Date: Wed, 30 Sep 2026 21:02:22 -0700 Subject: [PATCH] Re-enable the shadow-hand rendering and Isaac Sim PhysX Cartpole tests on ARM Both were disabled on ARM for real failures: the shadow-hand kit-less rendering file stalled mid-run on arm64 (#6581), and Isaac Sim PhysX training failed at environment creation on aarch64 with an invalidated simulation view. Restore the arm_ci marker and drop the aarch64 skip so DGX Spark runs both again. --- .../changelog.d/jichuanh-arm-ci-reenable-tests.skip | 0 .../uv_run/test_uv_run_isaacsim_trains_cartpole.py | 8 -------- .../changelog.d/jichuanh-arm-ci-reenable-tests.skip | 0 .../test/core/test_rendering_shadow_hand_kitless.py | 4 ++-- 4 files changed, 2 insertions(+), 10 deletions(-) create mode 100644 source/isaaclab/changelog.d/jichuanh-arm-ci-reenable-tests.skip create mode 100644 source/isaaclab_tasks/changelog.d/jichuanh-arm-ci-reenable-tests.skip diff --git a/source/isaaclab/changelog.d/jichuanh-arm-ci-reenable-tests.skip b/source/isaaclab/changelog.d/jichuanh-arm-ci-reenable-tests.skip new file mode 100644 index 000000000000..e69de29bb2d1 diff --git a/source/isaaclab/test/install_ci/uv_run/test_uv_run_isaacsim_trains_cartpole.py b/source/isaaclab/test/install_ci/uv_run/test_uv_run_isaacsim_trains_cartpole.py index 851cbba6b1f5..2b065072e99d 100644 --- a/source/isaaclab/test/install_ci/uv_run/test_uv_run_isaacsim_trains_cartpole.py +++ b/source/isaaclab/test/install_ci/uv_run/test_uv_run_isaacsim_trains_cartpole.py @@ -15,7 +15,6 @@ from __future__ import annotations -import platform import shutil import pytest @@ -52,13 +51,6 @@ class Test_Uv_Run_Isaacsim_Trains_Cartpole: def setup_class(cls): if not shutil.which("uv"): pytest.skip("uv is not available") - # PhysX training currently fails at env creation on aarch64 (DGX Spark): - # "[omni.physx.tensors.plugin] Simulation view object is invalidated and cannot - # be used again to call updateArticulationsKinematic". The environment itself - # installs fine from the lock; this matches the x86-only scope of the workflow - # this test replaces. Re-enable once PhysX training works on aarch64. - if platform.machine().lower() in ("aarch64", "arm64"): - pytest.skip("PhysX training is not functional on aarch64 yet") @pytest.mark.docker @pytest.mark.smoke diff --git a/source/isaaclab_tasks/changelog.d/jichuanh-arm-ci-reenable-tests.skip b/source/isaaclab_tasks/changelog.d/jichuanh-arm-ci-reenable-tests.skip new file mode 100644 index 000000000000..e69de29bb2d1 diff --git a/source/isaaclab_tasks/test/core/test_rendering_shadow_hand_kitless.py b/source/isaaclab_tasks/test/core/test_rendering_shadow_hand_kitless.py index ea44307f02c2..b17e9c41a0c3 100644 --- a/source/isaaclab_tasks/test/core/test_rendering_shadow_hand_kitless.py +++ b/source/isaaclab_tasks/test/core/test_rendering_shadow_hand_kitless.py @@ -19,8 +19,8 @@ rendering_test_shadow_hand, ) -# no arm_ci marker: intermittently stalls the arm64 runner mid-file (renderer hang after a few -# passing cases, killed at the per-file timeout); x86 kitless coverage remains in place +pytestmark = pytest.mark.arm_ci + _RENDERING_PARAMS = group_rendering_params( make_kitless_rendering_params(MINIMAL_KITLESS_PHYSICS_RENDERER_AOV_COMBINATIONS) )