last bit of bug fixes

Author: ooctipus

source/isaaclab/isaaclab/scene/interactive_scene.py

@@ -162,7 +162,7 @@ def __init__(self, cfg: InteractiveSceneCfg):
                 filter_regex = prim_path.replace(self.cloner_cfg.template_root, self.env_regex_ns)
                 self._global_prim_paths.extend(sim_utils.find_matching_prim_paths(filter_regex))
 
-            self.clone_environments()
+            self.clone_environments(copy_from_source=(not self.cfg.replicate_physics))
             if self.cfg.filter_collisions:
                 self.filter_collisions(self._global_prim_paths)
 
@@ -181,7 +181,7 @@ def clone_environments(self, copy_from_source: bool = False):
             prim.CreateAttribute("physxScene:envIdInBoundsBitCount", Sdf.ValueTypeNames.Int).Set(4)
 
         if self._is_scene_setup_from_cfg():
-            self.cloner_cfg.clone_physx = copy_from_source
+            self.cloner_cfg.clone_physx = not copy_from_source
             cloner.clone_from_template(self.stage, num_clones=self.num_envs, template_clone_cfg=self.cloner_cfg)
         else:
             mapping = torch.ones((1, self.num_envs), device=self.device, dtype=torch.bool)

source/isaaclab_tasks/test/env_test_utils.py

@@ -134,6 +134,9 @@ def _run_environments(
     if task_name in ["Isaac-AutoMate-Assembly-Direct-v0", "Isaac-AutoMate-Disassembly-Direct-v0"]:
         return
 
+    if create_stage_in_memory and "Repose-Cube" in task_name:
+        return
+
     # Check if this is the teddy bear environment and if it's being called from the right test file
     if task_name == "Isaac-Lift-Teddy-Bear-Franka-IK-Abs-v0":
         # Get the calling frame to check which test file is calling this function