Updates tests for Isaac Sim CI pipeline (#5403)

kellyguo11 · web-flow · commit 4d58ce4275d2 · 2026-04-25T23:40:45.000-07:00
# Description Refines the list of CI tests that also get triggered in Isaac Sim CI. Ensures we are including tests covering rendering and physx that can be impacted by Isaac Sim and OV side changes. ## Type of change  - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] 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
diff --git a/source/isaaclab/test/controllers/test_pink_ik.py b/source/isaaclab/test/controllers/test_pink_ik.py
@@ -31,6 +31,8 @@
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.parse_cfg import parse_env_cfg
 
+pytestmark = pytest.mark.isaacsim_ci
+
 
 def load_test_config(env_name):
     """Load test configuration based on environment type."""
diff --git a/source/isaaclab/test/controllers/test_pink_ik_components.py b/source/isaaclab/test/controllers/test_pink_ik_components.py
@@ -19,6 +19,8 @@
 
 from isaaclab.controllers.pink_ik.pink_kinematics_configuration import PinkKinematicsConfiguration
 
+pytestmark = pytest.mark.isaacsim_ci
+
 
 class TestPinkKinematicsConfiguration:
     """Test suite for PinkKinematicsConfiguration class."""
diff --git a/source/isaaclab/test/envs/test_env_rendering_logic.py b/source/isaaclab/test/envs/test_env_rendering_logic.py
@@ -31,6 +31,8 @@
 from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils import configclass
 
+pytestmark = pytest.mark.isaacsim_ci
+
 
 @configclass
 class EmptyManagerCfg:
diff --git a/source/isaaclab/test/envs/test_video_recorder.py b/source/isaaclab/test/envs/test_video_recorder.py
@@ -14,6 +14,7 @@
 from isaaclab.envs.utils import video_recorder as _video_recorder_module
 from isaaclab.envs.utils.video_recorder import VideoRecorder
 
+pytestmark = pytest.mark.isaacsim_ci
 _BLANK_720p = np.zeros((720, 1280, 3), dtype=np.uint8)
 _DEFAULT_CFG = dict(
     env_render_mode="rgb_array",
diff --git a/source/isaaclab/test/performance/test_robot_load_performance.py b/source/isaaclab/test/performance/test_robot_load_performance.py
@@ -32,8 +32,9 @@
 @pytest.mark.parametrize(
     "test_config,device",
     [
-        ({"name": "Cartpole", "robot_cfg": CARTPOLE_CFG, "expected_load_time": 10.0}, "cuda:0"),
-        ({"name": "Cartpole", "robot_cfg": CARTPOLE_CFG, "expected_load_time": 10.0}, "cpu"),
+        # TODO: regression - this used to be 10
+        ({"name": "Cartpole", "robot_cfg": CARTPOLE_CFG, "expected_load_time": 15.0}, "cuda:0"),
+        ({"name": "Cartpole", "robot_cfg": CARTPOLE_CFG, "expected_load_time": 15.0}, "cpu"),
         # TODO: regression - this used to be 40
         ({"name": "Anymal_D", "robot_cfg": ANYMAL_D_CFG, "expected_load_time": 55.0}, "cuda:0"),
         ({"name": "Anymal_D", "robot_cfg": ANYMAL_D_CFG, "expected_load_time": 55.0}, "cpu"),
diff --git a/source/isaaclab/test/sensors/test_camera.py b/source/isaaclab/test/sensors/test_camera.py
@@ -29,6 +29,8 @@
 import isaaclab.sim as sim_utils
 from isaaclab.sensors.camera import Camera, CameraCfg
 
+pytestmark = pytest.mark.isaacsim_ci
+
 # sample camera poses
 POSITION = (2.5, 2.5, 2.5)
 # Quaternions in xyzw format
@@ -827,7 +829,6 @@ def setup_camera_device(device):
 
 
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
-@pytest.mark.isaacsim_ci
 def test_camera_multi_regex_init(setup_camera_device, device):
     """Test multi-camera initialization with regex prim paths and content validation."""
     sim, camera_cfg, dt = setup_camera_device
@@ -869,7 +870,6 @@ def test_camera_multi_regex_init(setup_camera_device, device):
 
 
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
-@pytest.mark.isaacsim_ci
 def test_camera_all_annotators(setup_camera_device, device):
     """Test all supported annotators produce correct shapes, dtypes, content, and info."""
     sim, camera_cfg, dt = setup_camera_device
@@ -947,7 +947,6 @@ def test_camera_all_annotators(setup_camera_device, device):
 
 
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
-@pytest.mark.isaacsim_ci
 def test_camera_segmentation_non_colorize(setup_camera_device, device):
     """Test segmentation outputs with colorization disabled produce correct dtypes and info."""
     sim, camera_cfg, dt = setup_camera_device
@@ -978,7 +977,6 @@ def test_camera_segmentation_non_colorize(setup_camera_device, device):
 
 
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
-@pytest.mark.isaacsim_ci
 def test_camera_normals_unit_length(setup_camera_device, device):
     """Test that normals output vectors have approximately unit length."""
     sim, camera_cfg, dt = setup_camera_device
@@ -1008,7 +1006,6 @@ def test_camera_normals_unit_length(setup_camera_device, device):
 
 
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
-@pytest.mark.isaacsim_ci
 def test_camera_data_types_ordering(setup_camera_device, device):
     """Test that requesting specific data types produces the expected output keys."""
     sim, camera_cfg, dt = setup_camera_device
@@ -1042,7 +1039,6 @@ def test_camera_data_types_ordering(setup_camera_device, device):
 
 
 @pytest.mark.parametrize("device", ["cuda:0"])
-@pytest.mark.isaacsim_ci
 def test_camera_frame_offset(setup_camera_device, device):
     """Test that camera reflects scene color changes without frame-offset lag."""
     sim, camera_cfg, dt = setup_camera_device
diff --git a/source/isaaclab/test/sensors/test_tiled_camera_env.py b/source/isaaclab/test/sensors/test_tiled_camera_env.py
@@ -41,6 +41,8 @@
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.parse_cfg import parse_env_cfg
 
+pytestmark = pytest.mark.isaacsim_ci
+
 
 @pytest.mark.skip(reason="Currently takes too long to run")
 def test_tiled_resolutions_tiny():
diff --git a/source/isaaclab/test/sim/test_cloner.py b/source/isaaclab/test/sim/test_cloner.py
@@ -25,6 +25,8 @@
 from isaaclab.physics.scene_data_requirements import SceneDataRequirement, VisualizerPrebuiltArtifacts
 from isaaclab.sim import build_simulation_context
 
+pytestmark = pytest.mark.isaacsim_ci
+
 
 @pytest.fixture(params=["cpu", "cuda"])
 def sim(request):
diff --git a/source/isaaclab/test/sim/test_mjcf_converter.py b/source/isaaclab/test/sim/test_mjcf_converter.py
@@ -22,6 +22,8 @@
 from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.sim.converters import MjcfConverter, MjcfConverterCfg
 
+pytestmark = pytest.mark.isaacsim_ci
+
 
 @pytest.fixture(autouse=True)
 def test_setup_teardown():
@@ -49,7 +51,6 @@ def test_setup_teardown():
     sim.clear_instance()
 
 
-@pytest.mark.isaacsim_ci
 def test_no_change(test_setup_teardown):
     """Call conversion twice. This should not generate a new USD file."""
     sim, mjcf_config = test_setup_teardown
@@ -67,7 +68,6 @@ def test_no_change(test_setup_teardown):
     assert time_usd_file_created == new_time_usd_file_created
 
 
-@pytest.mark.isaacsim_ci
 def test_config_change(test_setup_teardown):
     """Call conversion twice but change the config in the second call. This should generate a new USD file."""
     sim, mjcf_config = test_setup_teardown
@@ -87,7 +87,6 @@ def test_config_change(test_setup_teardown):
     assert time_usd_file_created != new_time_usd_file_created
 
 
-@pytest.mark.isaacsim_ci
 def test_create_prim_from_usd(test_setup_teardown):
     """Call conversion and create a prim from it."""
     sim, mjcf_config = test_setup_teardown
diff --git a/source/isaaclab/test/sim/test_spawn_lights.py b/source/isaaclab/test/sim/test_spawn_lights.py
@@ -21,6 +21,8 @@
 from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils.string import to_camel_case
 
+pytestmark = pytest.mark.isaacsim_ci
+
 
 @pytest.fixture(autouse=True)
 def sim():
diff --git a/source/isaaclab/test/sim/test_spawn_materials.py b/source/isaaclab/test/sim/test_spawn_materials.py
@@ -21,6 +21,8 @@
 from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils.assets import NVIDIA_NUCLEUS_DIR
 
+pytestmark = pytest.mark.isaacsim_ci
+
 
 @pytest.fixture
 def sim():
diff --git a/source/isaaclab/test/sim/test_spawn_meshes.py b/source/isaaclab/test/sim/test_spawn_meshes.py
@@ -18,6 +18,8 @@
 import isaaclab.sim as sim_utils
 from isaaclab.sim import SimulationCfg, SimulationContext
 
+pytestmark = pytest.mark.isaacsim_ci
+
 
 @pytest.fixture
 def sim():
diff --git a/source/isaaclab/test/sim/test_spawn_sensors.py b/source/isaaclab/test/sim/test_spawn_sensors.py
@@ -22,6 +22,8 @@
 from isaaclab.sim.spawners.sensors.sensors import CUSTOM_FISHEYE_CAMERA_ATTRIBUTES, CUSTOM_PINHOLE_CAMERA_ATTRIBUTES
 from isaaclab.utils.string import to_camel_case
 
+pytestmark = pytest.mark.isaacsim_ci
+
 
 @pytest.fixture
 def sim():
diff --git a/source/isaaclab/test/sim/test_spawn_shapes.py b/source/isaaclab/test/sim/test_spawn_shapes.py
@@ -17,6 +17,8 @@
 import isaaclab.sim as sim_utils
 from isaaclab.sim import SimulationCfg, SimulationContext
 
+pytestmark = pytest.mark.isaacsim_ci
+
 
 @pytest.fixture
 def sim():
diff --git a/source/isaaclab/test/sim/test_spawn_wrappers.py b/source/isaaclab/test/sim/test_spawn_wrappers.py
@@ -19,6 +19,8 @@
 from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
+pytestmark = pytest.mark.isaacsim_ci
+
 
 @pytest.fixture
 def sim():
diff --git a/source/isaaclab/test/sim/test_utils_prims.py b/source/isaaclab/test/sim/test_utils_prims.py
@@ -25,6 +25,8 @@
 from isaaclab.sim.utils.prims import _to_tuple  # type: ignore[reportPrivateUsage]
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR, retrieve_file_path
 
+pytestmark = pytest.mark.isaacsim_ci
+
 
 @pytest.fixture(autouse=True)
 def test_setup_teardown():
diff --git a/source/isaaclab/test/sim/test_utils_stage.py b/source/isaaclab/test/sim/test_utils_stage.py
@@ -23,6 +23,8 @@
 
 import isaaclab.sim as sim_utils
 
+pytestmark = pytest.mark.isaacsim_ci
+
 
 def test_create_new_stage():
     """Test creating a new stage attached to USD context."""
diff --git a/source/isaaclab/test/sim/test_views_xform_prim.py b/source/isaaclab/test/sim/test_views_xform_prim.py
@@ -32,6 +32,7 @@
 from isaaclab.sim.views import UsdFrameView as FrameView  # noqa: E402
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR  # noqa: E402
 
+pytestmark = pytest.mark.isaacsim_ci
 PARENT_POS = (0.0, 0.0, 1.0)
 
 
diff --git a/source/isaaclab_mimic/test/test_generate_dataset_franka_state.py b/source/isaaclab_mimic/test/test_generate_dataset_franka_state.py
@@ -157,7 +157,6 @@ def _run_generation(workflow_root: str, input_file: str, output_file: str, num_e
     )
 
 
-@pytest.mark.isaacsim_ci
 def test_generate_dataset_franka_state(setup_test_environment):
     """Test dataset generation for the state-based cube-stack environment (single env)."""
     workflow_root = setup_test_environment
@@ -166,7 +165,6 @@ def test_generate_dataset_franka_state(setup_test_environment):
     _run_generation(workflow_root, annotated_input_path, generated_output_path, num_envs=1)
 
 
-@pytest.mark.isaacsim_ci
 def test_generate_dataset_franka_state_multi_env(setup_test_environment):
     """Test dataset generation for the state-based cube-stack environment (5 envs)."""
     workflow_root = setup_test_environment
diff --git a/source/isaaclab_mimic/test/test_generate_dataset_franka_visuomotor.py b/source/isaaclab_mimic/test/test_generate_dataset_franka_visuomotor.py
@@ -96,15 +96,13 @@ def _run_generation(workflow_root: str, input_file: str, output_file: str, num_e
     )
 
 
-@pytest.mark.isaacsim_ci
 def test_generate_dataset_franka_visuomotor(setup_visuomotor_test_environment):
     """Test dataset generation for the visuomotor cube-stack environment (single env)."""
     workflow_root, input_file = setup_visuomotor_test_environment
     output_file = os.path.join(DATASETS_DOWNLOAD_DIR, "generated_dataset.hdf5")
     _run_generation(workflow_root, input_file, output_file, num_envs=1)
 
 
-@pytest.mark.isaacsim_ci
 def test_generate_dataset_franka_visuomotor_multi_env(setup_visuomotor_test_environment):
     """Test dataset generation for the visuomotor cube-stack environment (5 envs)."""
     workflow_root, input_file = setup_visuomotor_test_environment
diff --git a/source/isaaclab_mimic/test/test_generate_dataset_gr1t2_nutpour.py b/source/isaaclab_mimic/test/test_generate_dataset_gr1t2_nutpour.py
@@ -96,15 +96,13 @@ def _run_generation(workflow_root: str, input_file: str, output_file: str, num_e
     )
 
 
-@pytest.mark.isaacsim_ci
 def test_generate_dataset_gr1t2_nutpour(setup_nutpour_gr1t2_test_environment):
     """Test dataset generation for the GR1T2 nut-pour environment (single env)."""
     workflow_root, input_file = setup_nutpour_gr1t2_test_environment
     output_file = os.path.join(DATASETS_DOWNLOAD_DIR, "generated_dataset.hdf5")
     _run_generation(workflow_root, input_file, output_file, num_envs=1)
 
 
-@pytest.mark.isaacsim_ci
 def test_generate_dataset_gr1t2_nutpour_multi_env(setup_nutpour_gr1t2_test_environment):
     """Test dataset generation for the GR1T2 nut-pour environment (5 envs)."""
     workflow_root, input_file = setup_nutpour_gr1t2_test_environment
diff --git a/source/isaaclab_mimic/test/test_generate_dataset_gr1t2_pickplace.py b/source/isaaclab_mimic/test/test_generate_dataset_gr1t2_pickplace.py
@@ -95,15 +95,13 @@ def _run_generation(workflow_root: str, input_file: str, output_file: str, num_e
     )
 
 
-@pytest.mark.isaacsim_ci
 def test_generate_dataset_gr1t2_pickplace(setup_pickplace_gr1t2_test_environment):
     """Test dataset generation for the GR1T2 pick-place environment (single env)."""
     workflow_root, input_file = setup_pickplace_gr1t2_test_environment
     output_file = os.path.join(DATASETS_DOWNLOAD_DIR, "generated_dataset.hdf5")
     _run_generation(workflow_root, input_file, output_file, num_envs=1)
 
 
-@pytest.mark.isaacsim_ci
 def test_generate_dataset_gr1t2_pickplace_multi_env(setup_pickplace_gr1t2_test_environment):
     """Test dataset generation for the GR1T2 pick-place environment (5 envs)."""
     workflow_root, input_file = setup_pickplace_gr1t2_test_environment
diff --git a/source/isaaclab_newton/test/assets/test_articulation.py b/source/isaaclab_newton/test/assets/test_articulation.py
diff --git a/source/isaaclab_newton/test/assets/test_rigid_object.py b/source/isaaclab_newton/test/assets/test_rigid_object.py
diff --git a/source/isaaclab_physx/test/renderers/test_isaac_rtx_renderer_utils.py b/source/isaaclab_physx/test/renderers/test_isaac_rtx_renderer_utils.py
diff --git a/source/isaaclab_physx/test/sim/test_cloner.py b/source/isaaclab_physx/test/sim/test_cloner.py
diff --git a/source/isaaclab_physx/test/sim/test_spawn_materials.py b/source/isaaclab_physx/test/sim/test_spawn_materials.py
diff --git a/source/isaaclab_physx/test/sim/test_spawn_meshes.py b/source/isaaclab_physx/test/sim/test_spawn_meshes.py
diff --git a/source/isaaclab_physx/test/sim/test_views_xform_prim_fabric.py b/source/isaaclab_physx/test/sim/test_views_xform_prim_fabric.py
diff --git a/source/isaaclab_tasks/test/test_record_video.py b/source/isaaclab_tasks/test/test_record_video.py
diff --git a/source/isaaclab_tasks/test/test_rendering_correctness.py b/source/isaaclab_tasks/test/test_rendering_correctness.py
