Skips failing tests for UR10e robot with Robotiq gripper

[Mayankm96]

Description

This MR skips tests that are failing. Even after debugging, I couldn't really arrive at a solution. It needs proper debugging but don't want to block incoming MRs.

Type of change

• Bug fix (non-breaking change which fixes an issue)

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[greptile-apps]

Greptile Summary

This PR temporarily disables failing tests to unblock CI pipeline. Two changes were made:

• Skips UR10e_ROBOTIQ_GRIPPER_CFG test in test_valid_configs.py due to an unresolved issue related to a Nucleus server update. The configuration uses a USD variant ({"Gripper": "Robotiq_2f_140"}) that may no longer be accessible or has changed on the Nucleus server.
• Increases timeout for test_skrl_wrapper.py from default 300s to 500s to prevent timeout-related test failures.

The author acknowledges this is a temporary workaround and notes that the UR10e Robotiq issue "needs proper debugging." The FIXME comment indicates this skip should be revisited once the root cause is identified and resolved.

Confidence Score: 4/5

• This PR is safe to merge as a temporary fix to unblock CI, but requires follow-up investigation
• The changes are minimal and low-risk: skipping a single failing test and increasing a timeout. However, this is explicitly a workaround rather than a proper fix. The score is 4 (not 5) because: (1) the root cause of the UR10e_ROBOTIQ_GRIPPER_CFG failure is unresolved and lacks documentation, and (2) the FIXME comment doesn't reference an issue or provide a timeline for resolution, which could lead to the skip becoming permanent technical debt.
• source/isaaclab_assets/test/test_valid_configs.py - track the FIXME and ensure the skip is revisited

Important Files Changed

Filename	Overview
source/isaaclab_assets/test/test_valid_configs.py	Skips UR10e_ROBOTIQ_GRIPPER_CFG test due to Nucleus-related failure; uses FIXME comment
tools/test_settings.py	Increases timeout for test_skrl_wrapper.py to 500 seconds to prevent timeout failures

Sequence Diagram

sequenceDiagram
    participant TestRunner as Test Runner
    participant TestConfig as test_valid_configs.py
    participant Assets as isaaclab_assets
    participant Config as UR10e_ROBOTIQ_GRIPPER_CFG
    participant Nucleus as Nucleus Server
    participant SkrlTest as test_skrl_wrapper.py
    participant TestSettings as test_settings.py

    TestRunner->>TestConfig: Run test_asset_configs()
    TestConfig->>Assets: Iterate through all configs in dir(lab_assets)
    Assets->>TestConfig: Return config objects
    
    alt UR10e_ROBOTIQ_GRIPPER_CFG encountered
        TestConfig->>TestConfig: Check if obj_name == "UR10e_ROBOTIQ_GRIPPER_CFG"
        TestConfig->>TestConfig: Skip with continue (FIXME)
        Note over TestConfig: Skipped due to Nucleus issue
    else Other configs
        TestConfig->>Config: Create asset instance
        Config->>Nucleus: Load USD with variant {"Gripper": "Robotiq_2f_140"}
        Nucleus-->>Config: Return asset (may fail for UR10e)
        Config->>TestConfig: Asset initialized
        TestConfig->>TestConfig: Assert is_initialized
    end

    TestRunner->>SkrlTest: Run test_skrl_wrapper()
    SkrlTest->>TestSettings: Check timeout for test
    TestSettings-->>SkrlTest: Return 500 seconds (increased from default)
    SkrlTest->>SkrlTest: Execute test with extended timeout
    SkrlTest-->>TestRunner: Complete within timeout

Loading

[greptile-apps]

Additional Comments (1)

1. source/isaaclab_assets/test/test_valid_configs.py, line 36-39 (link)

   style: The comment mentions "recent Nucleus update" without specifics. Consider adding a link to an issue tracking the root cause and what specifically fails (variant not found, USD loading error, etc.) to prevent this skip from becoming permanent.

   _{Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!}

_{2 files reviewed, 1 comment}

_{Edit Code Review Agent Settings | Greptile}

[ashwinvkNV]

I'm facing the same issue in this PR: #4044

Is this because the UR10e_ROBOTIQ_2F_85_CFG.spawn.variants is not taking effect for some reason?

These tests seem to pass locally for me. And the variant seem to load fine for me locally.
Screencast from 01-02-2026 10:28:57 AM.webm

[Mayankm96]

After discussion with @stevfeng -- We have identified the issue. It is because the assets internally refer to the "dev" nucleus server. Hence, the variant selection was hanging.

[ashwinvkNV]

@Mayankm96 The tests seems to be passing now. Shouldn't we revert this PR?