Updates pytest flags to add for isaacsim integration testsing (#3247)

# Description

This change prepares the unit test framework to allow running CI within
the Isaac Sim pipeline to catch issues earlier on in Isaac Sim changes.

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discussions on the proposed pull request.
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## Type of change

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applicable. -->


- New feature (non-breaking change which adds functionality)


## Checklist

- [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
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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CONTRIBUTORS.md

@@ -20,6 +20,7 @@ Guidelines for modifications:
 ---
 
 * Antonio Serrano-Muñoz
+* Ben Johnston
 * David Hoeller
 * Farbod Farshidian
 * Hunter Hansen

pytest.ini

+[pytest]
+markers =
+    isaacsim_ci: mark test to run in isaacsim ci

source/isaaclab/isaaclab/app/app_launcher.py

@@ -789,6 +789,24 @@ class AppLauncher:
         # this is mainly done to purge the print statements from the simulation app
         if "--verbose" not in sys.argv and "--info" not in sys.argv:
             sys.stdout = open(os.devnull, "w")  # noqa: SIM115
+
+        # pytest may have left some things in sys.argv, this will check for some of those
+        # do a mark and sweep to remove any -m pytest and -m isaacsim_ci and -c **/pytest.ini
+        indexes_to_remove = []
+        for idx, arg in enumerate(sys.argv[:-1]):
+            if arg == "-m":
+                value_for_dash_m = sys.argv[idx + 1]
+                if "pytest" in value_for_dash_m or "isaacsim_ci" in value_for_dash_m:
+                    indexes_to_remove.append(idx)
+                    indexes_to_remove.append(idx + 1)
+            if arg == "-c" and "pytest.ini" in sys.argv[idx + 1]:
+                indexes_to_remove.append(idx)
+                indexes_to_remove.append(idx + 1)
+            if arg == "--capture=no":
+                indexes_to_remove.append(idx)
+        for idx in sorted(indexes_to_remove, reverse=True):
+            sys.argv = sys.argv[:idx] + sys.argv[idx + 1 :]
+
         # launch simulation app
         self._app = SimulationApp(self._sim_app_config, experience=self._sim_experience_file)
         # enable sys stdout and stderr
@@ -800,6 +818,7 @@ class AppLauncher:
         # remove the threadCount argument from sys.argv if it was added for distributed training
         pattern = r"--/plugins/carb\.tasking\.plugin/threadCount=\d+"
         sys.argv = [arg for arg in sys.argv if not re.match(pattern, arg)]
+
         # remove additional OV args from sys.argv
         if len(self._kit_args) > 0:
             sys.argv = [arg for arg in sys.argv if arg not in self._kit_args]

source/isaaclab/test/assets/test_articulation.py

@@ -203,6 +203,7 @@ def sim(request):
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("add_ground_plane", [True])
+@pytest.mark.isaacsim_ci
 def test_initialization_floating_base_non_root(sim, num_articulations, device, add_ground_plane):
     """Test initialization for a floating-base with articulation root on a rigid body.
 
@@ -259,6 +260,7 @@ def test_initialization_floating_base_non_root(sim, num_articulations, device, a
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("add_ground_plane", [True])
+@pytest.mark.isaacsim_ci
 def test_initialization_floating_base(sim, num_articulations, device, add_ground_plane):
     """Test initialization for a floating-base with articulation root on provided prim path.
 
@@ -315,6 +317,7 @@ def test_initialization_floating_base(sim, num_articulations, device, add_ground
 
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_initialization_fixed_base(sim, num_articulations, device):
     """Test initialization for fixed base.
 
@@ -378,6 +381,7 @@ def test_initialization_fixed_base(sim, num_articulations, device):
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("add_ground_plane", [True])
+@pytest.mark.isaacsim_ci
 def test_initialization_fixed_base_single_joint(sim, num_articulations, device, add_ground_plane):
     """Test initialization for fixed base articulation with a single joint.
 
@@ -440,6 +444,7 @@ def test_initialization_fixed_base_single_joint(sim, num_articulations, device,
 
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_initialization_hand_with_tendons(sim, num_articulations, device):
     """Test initialization for fixed base articulated hand with tendons.
 
@@ -494,6 +499,7 @@ def test_initialization_hand_with_tendons(sim, num_articulations, device):
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("add_ground_plane", [True])
+@pytest.mark.isaacsim_ci
 def test_initialization_floating_base_made_fixed_base(sim, num_articulations, device, add_ground_plane):
     """Test initialization for a floating-base articulation made fixed-base using schema properties.
 
@@ -552,6 +558,7 @@ def test_initialization_floating_base_made_fixed_base(sim, num_articulations, de
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("add_ground_plane", [True])
+@pytest.mark.isaacsim_ci
 def test_initialization_fixed_base_made_floating_base(sim, num_articulations, device, add_ground_plane):
     """Test initialization for fixed base made floating-base using schema properties.
 
@@ -604,6 +611,7 @@ def test_initialization_fixed_base_made_floating_base(sim, num_articulations, de
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("add_ground_plane", [True])
+@pytest.mark.isaacsim_ci
 def test_out_of_range_default_joint_pos(sim, num_articulations, device, add_ground_plane):
     """Test that the default joint position from configuration is out of range.
 
@@ -633,6 +641,7 @@ def test_out_of_range_default_joint_pos(sim, num_articulations, device, add_grou
 
 
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_out_of_range_default_joint_vel(sim, device):
     """Test that the default joint velocity from configuration is out of range.
 
@@ -658,6 +667,7 @@ def test_out_of_range_default_joint_vel(sim, device):
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("add_ground_plane", [True])
+@pytest.mark.isaacsim_ci
 def test_joint_pos_limits(sim, num_articulations, device, add_ground_plane):
     """Test write_joint_limits_to_sim API and when default pos falls outside of the new limits.
 
@@ -765,6 +775,7 @@ def test_joint_effort_limits(sim, num_articulations, device, add_ground_plane):
 
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_external_force_buffer(sim, num_articulations, device):
     """Test if external force buffer correctly updates in the force value is zero case.
 
@@ -857,6 +868,7 @@ def test_external_force_buffer(sim, num_articulations, device):
 
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_external_force_on_single_body(sim, num_articulations, device):
     """Test application of external force on the base of the articulation.
 
@@ -915,6 +927,7 @@ def test_external_force_on_single_body(sim, num_articulations, device):
 
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_external_force_on_single_body_at_position(sim, num_articulations, device):
     """Test application of external force on the base of the articulation at a given position.
 
@@ -981,6 +994,7 @@ def test_external_force_on_single_body_at_position(sim, num_articulations, devic
 
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_external_force_on_multiple_bodies(sim, num_articulations, device):
     """Test application of external force on the legs of the articulation.
 
@@ -1039,6 +1053,7 @@ def test_external_force_on_multiple_bodies(sim, num_articulations, device):
 
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_external_force_on_multiple_bodies_at_position(sim, num_articulations, device):
     """Test application of external force on the legs of the articulation at a given position.
 
@@ -1104,6 +1119,7 @@ def test_external_force_on_multiple_bodies_at_position(sim, num_articulations, d
 
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_loading_gains_from_usd(sim, num_articulations, device):
     """Test that gains are loaded from USD file if actuator model has them as None.
 
@@ -1166,6 +1182,7 @@ def test_loading_gains_from_usd(sim, num_articulations, device):
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("add_ground_plane", [True])
+@pytest.mark.isaacsim_ci
 def test_setting_gains_from_cfg(sim, num_articulations, device, add_ground_plane):
     """Test that gains are loaded from the configuration correctly.
 
@@ -1199,6 +1216,7 @@ def test_setting_gains_from_cfg(sim, num_articulations, device, add_ground_plane
 
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_setting_gains_from_cfg_dict(sim, num_articulations, device):
     """Test that gains are loaded from the configuration dictionary correctly.
 
@@ -1234,6 +1252,7 @@ def test_setting_gains_from_cfg_dict(sim, num_articulations, device):
 @pytest.mark.parametrize("vel_limit_sim", [1e5, None])
 @pytest.mark.parametrize("vel_limit", [1e2, None])
 @pytest.mark.parametrize("add_ground_plane", [False])
+@pytest.mark.isaacsim_ci
 def test_setting_velocity_limit_implicit(sim, num_articulations, device, vel_limit_sim, vel_limit, add_ground_plane):
     """Test setting of velocity limit for implicit actuators.
 
@@ -1300,6 +1319,7 @@ def test_setting_velocity_limit_implicit(sim, num_articulations, device, vel_lim
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("vel_limit_sim", [1e5, None])
 @pytest.mark.parametrize("vel_limit", [1e2, None])
+@pytest.mark.isaacsim_ci
 def test_setting_velocity_limit_explicit(sim, num_articulations, device, vel_limit_sim, vel_limit):
     """Test setting of velocity limit for explicit actuators."""
     articulation_cfg = generate_articulation_cfg(
@@ -1353,6 +1373,7 @@ def test_setting_velocity_limit_explicit(sim, num_articulations, device, vel_lim
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("effort_limit_sim", [1e5, None])
 @pytest.mark.parametrize("effort_limit", [1e2, None])
+@pytest.mark.isaacsim_ci
 def test_setting_effort_limit_implicit(sim, num_articulations, device, effort_limit_sim, effort_limit):
     """Test setting of the effort limit for implicit actuators."""
     articulation_cfg = generate_articulation_cfg(
@@ -1399,6 +1420,7 @@ def test_setting_effort_limit_implicit(sim, num_articulations, device, effort_li
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("effort_limit_sim", [1e5, None])
 @pytest.mark.parametrize("effort_limit", [1e2, None])
+@pytest.mark.isaacsim_ci
 def test_setting_effort_limit_explicit(sim, num_articulations, device, effort_limit_sim, effort_limit):
     """Test setting of effort limit for explicit actuators."""
     articulation_cfg = generate_articulation_cfg(
@@ -1445,6 +1467,7 @@ def test_setting_effort_limit_explicit(sim, num_articulations, device, effort_li
 
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_reset(sim, num_articulations, device):
     """Test that reset method works properly."""
     articulation_cfg = generate_articulation_cfg(articulation_type="humanoid")
@@ -1468,6 +1491,7 @@ def test_reset(sim, num_articulations, device):
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("add_ground_plane", [True])
+@pytest.mark.isaacsim_ci
 def test_apply_joint_command(sim, num_articulations, device, add_ground_plane):
     """Test applying of joint position target functions correctly for a robotic arm."""
     articulation_cfg = generate_articulation_cfg(articulation_type="panda")
@@ -1507,6 +1531,7 @@ def test_apply_joint_command(sim, num_articulations, device, add_ground_plane):
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("with_offset", [True, False])
+@pytest.mark.isaacsim_ci
 def test_body_root_state(sim, num_articulations, device, with_offset):
     """Test for reading the `body_state_w` property.
 
@@ -1624,6 +1649,7 @@ def test_body_root_state(sim, num_articulations, device, with_offset):
 @pytest.mark.parametrize("with_offset", [True, False])
 @pytest.mark.parametrize("state_location", ["com", "link"])
 @pytest.mark.parametrize("gravity_enabled", [False])
+@pytest.mark.isaacsim_ci
 def test_write_root_state(sim, num_articulations, device, with_offset, state_location, gravity_enabled):
     """Test the setters for root_state using both the link frame and center of mass as reference frame.
 
@@ -1695,6 +1721,7 @@ def test_write_root_state(sim, num_articulations, device, with_offset, state_loc
 
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_body_incoming_joint_wrench_b_single_joint(sim, num_articulations, device):
     """Test the data.body_incoming_joint_wrench_b buffer is populated correctly and statically correct for single joint.
 
@@ -1775,6 +1802,7 @@ def test_body_incoming_joint_wrench_b_single_joint(sim, num_articulations, devic
 
 
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_setting_articulation_root_prim_path(sim, device):
     """Test that the articulation root prim path can be set explicitly."""
     sim._app_control_on_stop_handle = None
@@ -1794,6 +1822,7 @@ def test_setting_articulation_root_prim_path(sim, device):
 
 
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_setting_invalid_articulation_root_prim_path(sim, device):
     """Test that the articulation root prim path can be set explicitly."""
     sim._app_control_on_stop_handle = None
@@ -1814,6 +1843,7 @@ def test_setting_invalid_articulation_root_prim_path(sim, device):
 @pytest.mark.parametrize("num_articulations", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("gravity_enabled", [False])
+@pytest.mark.isaacsim_ci
 def test_write_joint_state_data_consistency(sim, num_articulations, device, gravity_enabled):
     """Test the setters for root_state using both the link frame and center of mass as reference frame.
 

source/isaaclab/test/assets/test_deformable_object.py

@@ -164,6 +164,7 @@ def test_initialization(sim, num_cubes, material_path):
     )
 
 
+@pytest.mark.isaacsim_ci
 def test_initialization_on_device_cpu():
     """Test that initialization fails with deformable body API on the CPU."""
     with build_simulation_context(device="cpu", auto_add_lighting=True) as sim:
@@ -179,6 +180,7 @@ def test_initialization_on_device_cpu():
 
 
 @pytest.mark.parametrize("num_cubes", [1, 2])
+@pytest.mark.isaacsim_ci
 def test_initialization_with_kinematic_enabled(sim, num_cubes):
     """Test that initialization for prim with kinematic flag enabled."""
     cube_object = generate_cubes_scene(num_cubes=num_cubes, kinematic_enabled=True)
@@ -205,6 +207,7 @@ def test_initialization_with_kinematic_enabled(sim, num_cubes):
 
 
 @pytest.mark.parametrize("num_cubes", [1, 2])
+@pytest.mark.isaacsim_ci
 def test_initialization_with_no_deformable_body(sim, num_cubes):
     """Test that initialization fails when no deformable body is found at the provided prim path."""
     cube_object = generate_cubes_scene(num_cubes=num_cubes, has_api=False)
@@ -218,6 +221,7 @@ def test_initialization_with_no_deformable_body(sim, num_cubes):
 
 
 @pytest.mark.parametrize("num_cubes", [1, 2])
+@pytest.mark.isaacsim_ci
 def test_set_nodal_state(sim, num_cubes):
     """Test setting the state of the deformable object."""
     cube_object = generate_cubes_scene(num_cubes=num_cubes)
@@ -258,6 +262,7 @@ def test_set_nodal_state(sim, num_cubes):
 @pytest.mark.parametrize("randomize_pos", [True, False])
 @pytest.mark.parametrize("randomize_rot", [True, False])
 @flaky(max_runs=3, min_passes=1)
+@pytest.mark.isaacsim_ci
 def test_set_nodal_state_with_applied_transform(sim, num_cubes, randomize_pos, randomize_rot):
     """Test setting the state of the deformable object with applied transform."""
     carb_settings_iface = carb.settings.get_settings()
@@ -302,6 +307,7 @@ def test_set_nodal_state_with_applied_transform(sim, num_cubes, randomize_pos, r
 
 
 @pytest.mark.parametrize("num_cubes", [2, 4])
+@pytest.mark.isaacsim_ci
 def test_set_kinematic_targets(sim, num_cubes):
     """Test setting kinematic targets for the deformable object."""
     cube_object = generate_cubes_scene(num_cubes=num_cubes, height=1.0)

source/isaaclab/test/assets/test_rigid_object.py

@@ -97,6 +97,7 @@ def generate_cubes_scene(
 
 @pytest.mark.parametrize("num_cubes", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_initialization(num_cubes, device):
     """Test initialization for prim with rigid body API at the provided prim path."""
     with build_simulation_context(device=device, auto_add_lighting=True) as sim:
@@ -130,6 +131,7 @@ def test_initialization(num_cubes, device):
 
 @pytest.mark.parametrize("num_cubes", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_initialization_with_kinematic_enabled(num_cubes, device):
     """Test that initialization for prim with kinematic flag enabled."""
     with build_simulation_context(device=device, auto_add_lighting=True) as sim:
@@ -165,6 +167,7 @@ def test_initialization_with_kinematic_enabled(num_cubes, device):
 
 @pytest.mark.parametrize("num_cubes", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_initialization_with_no_rigid_body(num_cubes, device):
     """Test that initialization fails when no rigid body is found at the provided prim path."""
     with build_simulation_context(device=device, auto_add_lighting=True) as sim:
@@ -182,6 +185,7 @@ def test_initialization_with_no_rigid_body(num_cubes, device):
 
 @pytest.mark.parametrize("num_cubes", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_initialization_with_articulation_root(num_cubes, device):
     """Test that initialization fails when an articulation root is found at the provided prim path."""
     with build_simulation_context(device=device, auto_add_lighting=True) as sim:
@@ -198,6 +202,7 @@ def test_initialization_with_articulation_root(num_cubes, device):
 
 
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_external_force_buffer(device):
     """Test if external force buffer correctly updates in the force value is zero case.
 
@@ -277,6 +282,7 @@ def test_external_force_buffer(device):
 
 @pytest.mark.parametrize("num_cubes", [2, 4])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_external_force_on_single_body(num_cubes, device):
     """Test application of external force on the base of the object.
 
@@ -402,6 +408,7 @@ def test_external_force_on_single_body_at_position(num_cubes, device):
 
 @pytest.mark.parametrize("num_cubes", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_set_rigid_object_state(num_cubes, device):
     """Test setting the state of the rigid object.
 
@@ -468,6 +475,7 @@ def test_set_rigid_object_state(num_cubes, device):
 
 @pytest.mark.parametrize("num_cubes", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_reset_rigid_object(num_cubes, device):
     """Test resetting the state of the rigid object."""
     with build_simulation_context(device=device, gravity_enabled=True, auto_add_lighting=True) as sim:
@@ -506,6 +514,7 @@ def test_reset_rigid_object(num_cubes, device):
 
 @pytest.mark.parametrize("num_cubes", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_rigid_body_set_material_properties(num_cubes, device):
     """Test getting and setting material properties of rigid object."""
     with build_simulation_context(
@@ -544,6 +553,7 @@ def test_rigid_body_set_material_properties(num_cubes, device):
 
 @pytest.mark.parametrize("num_cubes", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_rigid_body_no_friction(num_cubes, device):
     """Test that a rigid object with no friction will maintain it's velocity when sliding across a plane."""
     with build_simulation_context(device=device, auto_add_lighting=True) as sim:
@@ -601,6 +611,7 @@ def test_rigid_body_no_friction(num_cubes, device):
 
 @pytest.mark.parametrize("num_cubes", [1, 2])
 @pytest.mark.parametrize("device", ["cuda", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_rigid_body_with_static_friction(num_cubes, device):
     """Test that static friction applied to rigid object works as expected.
 
@@ -682,6 +693,7 @@ def test_rigid_body_with_static_friction(num_cubes, device):
 
 @pytest.mark.parametrize("num_cubes", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_rigid_body_with_restitution(num_cubes, device):
     """Test that restitution when applied to rigid object works as expected.
 
@@ -761,6 +773,7 @@ def test_rigid_body_with_restitution(num_cubes, device):
 
 @pytest.mark.parametrize("num_cubes", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
 def test_rigid_body_set_mass(num_cubes, device):
     """Test getting and setting mass of rigid object."""
     with build_simulation_context(
@@ -803,6 +816,7 @@ def test_rigid_body_set_mass(num_cubes, device):
 @pytest.mark.parametrize("num_cubes", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("gravity_enabled", [True, False])
+@pytest.mark.isaacsim_ci
 def test_gravity_vec_w(num_cubes, device, gravity_enabled):
     """Test that gravity vector direction is set correctly for the rigid object."""
     with build_simulation_context(device=device, gravity_enabled=gravity_enabled) as sim:
@@ -842,6 +856,7 @@ def test_gravity_vec_w(num_cubes, device, gravity_enabled):
 @pytest.mark.parametrize("num_cubes", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("with_offset", [True, False])
+@pytest.mark.isaacsim_ci
 def test_body_root_state_properties(num_cubes, device, with_offset):
     """Test the root_com_state_w, root_link_state_w, body_com_state_w, and body_link_state_w properties."""
     with build_simulation_context(device=device, gravity_enabled=False, auto_add_lighting=True) as sim:
@@ -946,6 +961,7 @@ def test_body_root_state_properties(num_cubes, device, with_offset):
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("with_offset", [True, False])
 @pytest.mark.parametrize("state_location", ["com", "link"])
+@pytest.mark.isaacsim_ci
 def test_write_root_state(num_cubes, device, with_offset, state_location):
     """Test the setters for root_state using both the link frame and center of mass as reference frame."""
     with build_simulation_context(device=device, gravity_enabled=False, auto_add_lighting=True) as sim:
@@ -1008,6 +1024,7 @@ def test_write_root_state(num_cubes, device, with_offset, state_location):
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("with_offset", [True])
 @pytest.mark.parametrize("state_location", ["com", "link", "root"])
+@pytest.mark.isaacsim_ci
 def test_write_state_functions_data_consistency(num_cubes, device, with_offset, state_location):
     """Test the setters for root_state using both the link frame and center of mass as reference frame."""
     with build_simulation_context(device=device, gravity_enabled=False, auto_add_lighting=True) as sim:

source/isaaclab/test/assets/test_surface_gripper.py

@@ -159,6 +159,7 @@ def sim(request):
 @pytest.mark.parametrize("num_articulations", [1])
 @pytest.mark.parametrize("device", ["cpu"])
 @pytest.mark.parametrize("add_ground_plane", [True])
+@pytest.mark.isaacsim_ci
 def test_initialization(sim, num_articulations, device, add_ground_plane) -> None:
     """Test initialization for articulation with a surface gripper.
 
@@ -204,6 +205,7 @@ def test_initialization(sim, num_articulations, device, add_ground_plane) -> Non
 
 @pytest.mark.parametrize("device", ["cuda:0"])
 @pytest.mark.parametrize("add_ground_plane", [True])
+@pytest.mark.isaacsim_ci
 def test_raise_error_if_not_cpu(sim, device, add_ground_plane) -> None:
     """Test that the SurfaceGripper raises an error if the device is not CPU."""
     isaac_sim_version = get_version()

source/isaaclab/test/controllers/test_operational_space.py

@@ -209,6 +209,7 @@ def sim():
     sim.clear_instance()
 
 
+@pytest.mark.isaacsim_ci
 def test_franka_pose_abs_without_inertial_decoupling(sim):
     """Test absolute pose control with fixed impedance and without inertial dynamics decoupling."""
     (
@@ -257,6 +258,7 @@ def test_franka_pose_abs_without_inertial_decoupling(sim):
     )
 
 
+@pytest.mark.isaacsim_ci
 def test_franka_pose_abs_with_partial_inertial_decoupling(sim):
     """Test absolute pose control with fixed impedance and partial inertial dynamics decoupling."""
     (
@@ -306,6 +308,7 @@ def test_franka_pose_abs_with_partial_inertial_decoupling(sim):
     )
 
 
+@pytest.mark.isaacsim_ci
 def test_franka_pose_abs_fixed_impedance_with_gravity_compensation(sim):
     """Test absolute pose control with fixed impedance, gravity compensation, and inertial dynamics decoupling."""
     (
@@ -356,6 +359,7 @@ def test_franka_pose_abs_fixed_impedance_with_gravity_compensation(sim):
     )
 
 
+@pytest.mark.isaacsim_ci
 def test_franka_pose_abs(sim):
     """Test absolute pose control with fixed impedance and inertial dynamics decoupling."""
     (
@@ -405,6 +409,7 @@ def test_franka_pose_abs(sim):
     )
 
 
+@pytest.mark.isaacsim_ci
 def test_franka_pose_rel(sim):
     """Test relative pose control with fixed impedance and inertial dynamics decoupling."""
     (
@@ -454,6 +459,7 @@ def test_franka_pose_rel(sim):
     )
 
 
+@pytest.mark.isaacsim_ci
 def test_franka_pose_abs_variable_impedance(sim):
     """Test absolute pose control with variable impedance and inertial dynamics decoupling."""
     (
@@ -501,6 +507,7 @@ def test_franka_pose_abs_variable_impedance(sim):
     )
 
 
+@pytest.mark.isaacsim_ci
 def test_franka_wrench_abs_open_loop(sim):
     """Test open loop absolute force control."""
     (
@@ -581,6 +588,7 @@ def test_franka_wrench_abs_open_loop(sim):
     )
 
 
+@pytest.mark.isaacsim_ci
 def test_franka_wrench_abs_closed_loop(sim):
     """Test closed loop absolute force control."""
     (
@@ -669,6 +677,7 @@ def test_franka_wrench_abs_closed_loop(sim):
     )
 
 
+@pytest.mark.isaacsim_ci
 def test_franka_hybrid_decoupled_motion(sim):
     """Test hybrid control with fixed impedance and partial inertial dynamics decoupling."""
     (
@@ -744,6 +753,7 @@ def test_franka_hybrid_decoupled_motion(sim):
     )
 
 
+@pytest.mark.isaacsim_ci
 def test_franka_hybrid_variable_kp_impedance(sim):
     """Test hybrid control with variable kp impedance and inertial dynamics decoupling."""
     (
@@ -818,6 +828,7 @@ def test_franka_hybrid_variable_kp_impedance(sim):
     )
 
 
+@pytest.mark.isaacsim_ci
 def test_franka_taskframe_pose_abs(sim):
     """Test absolute pose control in task frame with fixed impedance and inertial dynamics decoupling."""
     (
@@ -868,6 +879,7 @@ def test_franka_taskframe_pose_abs(sim):
     )
 
 
+@pytest.mark.isaacsim_ci
 def test_franka_taskframe_pose_rel(sim):
     """Test relative pose control in task frame with fixed impedance and inertial dynamics decoupling."""
     (
@@ -918,6 +930,7 @@ def test_franka_taskframe_pose_rel(sim):
     )
 
 
+@pytest.mark.isaacsim_ci
 def test_franka_taskframe_hybrid(sim):
     """Test hybrid control in task frame with fixed impedance and inertial dynamics decoupling."""
     (
@@ -994,6 +1007,7 @@ def test_franka_taskframe_hybrid(sim):
     )
 
 
+@pytest.mark.isaacsim_ci
 def test_franka_pose_abs_without_inertial_decoupling_with_nullspace_centering(sim):
     """Test absolute pose control with fixed impedance and nullspace centerin but without inertial decoupling."""
     (
@@ -1043,6 +1057,7 @@ def test_franka_pose_abs_without_inertial_decoupling_with_nullspace_centering(si
     )
 
 
+@pytest.mark.isaacsim_ci
 def test_franka_pose_abs_with_partial_inertial_decoupling_nullspace_centering(sim):
     """Test absolute pose control with fixed impedance, partial inertial decoupling and nullspace centering."""
     (
@@ -1093,6 +1108,7 @@ def test_franka_pose_abs_with_partial_inertial_decoupling_nullspace_centering(si
     )
 
 
+@pytest.mark.isaacsim_ci
 def test_franka_pose_abs_with_nullspace_centering(sim):
     """Test absolute pose control with fixed impedance, inertial decoupling and nullspace centering."""
     (
@@ -1143,6 +1159,7 @@ def test_franka_pose_abs_with_nullspace_centering(sim):
     )
 
 
+@pytest.mark.isaacsim_ci
 def test_franka_taskframe_hybrid_with_nullspace_centering(sim):
     """Test hybrid control in task frame with fixed impedance, inertial decoupling and nullspace centering."""
     (

source/isaaclab/test/deps/test_scipy.py

@@ -5,6 +5,7 @@
 
 # isort: off
 import warnings
+import pytest
 
 warnings.filterwarnings("ignore", category=DeprecationWarning)
 # isort: on
@@ -13,6 +14,7 @@ import numpy as np
 import scipy.interpolate as interpolate
 
 
+@pytest.mark.isaacsim_ci
 def test_interpolation():
     """Test scipy interpolation 2D method."""
     # parameters

source/isaaclab/test/deps/test_torch.py

@@ -9,6 +9,7 @@ import torch.utils.benchmark as benchmark
 import pytest
 
 
+@pytest.mark.isaacsim_ci
 def test_array_slicing():
     """Check that using ellipsis and slices work for torch tensors."""
 
@@ -31,6 +32,7 @@ def test_array_slicing():
     assert my_tensor[:, 0, 0].shape == (400,)
 
 
+@pytest.mark.isaacsim_ci
 def test_array_circular():
     """Check circular buffer implementation in torch."""
 
@@ -74,6 +76,7 @@ def test_array_circular():
     assert torch.allclose(my_tensor_4, my_tensor.roll(1, dims=1))
 
 
+@pytest.mark.isaacsim_ci
 def test_array_circular_copy():
     """Check that circular buffer implementation in torch is copying data."""
 
@@ -92,6 +95,7 @@ def test_array_circular_copy():
     assert torch.allclose(my_tensor_1, my_tensor_clone.roll(1, dims=1))
 
 
+@pytest.mark.isaacsim_ci
 def test_array_multi_indexing():
     """Check multi-indexing works for torch tensors."""
 
@@ -103,6 +107,7 @@ def test_array_multi_indexing():
         my_tensor[[0, 1, 2, 3], [0, 1, 2, 3, 4]]
 
 
+@pytest.mark.isaacsim_ci
 def test_array_single_indexing():
     """Check how indexing effects the returned tensor."""
 
@@ -126,6 +131,7 @@ def test_array_single_indexing():
     assert my_slice.untyped_storage().data_ptr() != my_tensor.untyped_storage().data_ptr()
 
 
+@pytest.mark.isaacsim_ci
 def test_logical_or():
     """Test bitwise or operation."""
 

source/isaaclab/test/devices/test_oxr_device.py

@@ -150,6 +150,7 @@ def empty_env():
     env.close()
 
 
+@pytest.mark.isaacsim_ci
 def test_xr_anchor(empty_env, mock_xrcore):
     """Test XR anchor creation and configuration."""
     env, env_cfg = empty_env
@@ -172,6 +173,7 @@ def test_xr_anchor(empty_env, mock_xrcore):
     device.reset()
 
 
+@pytest.mark.isaacsim_ci
 def test_xr_anchor_default(empty_env, mock_xrcore):
     """Test XR anchor creation with default configuration."""
     env, _ = empty_env
@@ -193,6 +195,7 @@ def test_xr_anchor_default(empty_env, mock_xrcore):
     device.reset()
 
 
+@pytest.mark.isaacsim_ci
 def test_xr_anchor_multiple_devices(empty_env, mock_xrcore):
     """Test XR anchor behavior with multiple devices."""
     env, _ = empty_env
@@ -216,6 +219,7 @@ def test_xr_anchor_multiple_devices(empty_env, mock_xrcore):
     device_2.reset()
 
 
+@pytest.mark.isaacsim_ci
 def test_get_raw_data(empty_env, mock_xrcore):
     """Test the _get_raw_data method returns correctly formatted tracking data."""
     env, _ = empty_env

source/isaaclab/test/performance/test_kit_startup_performance.py

@@ -10,9 +10,12 @@ from __future__ import annotations
 
 import time
 
+import pytest
+
 from isaaclab.app import AppLauncher
 
 
+@pytest.mark.isaacsim_ci
 def test_kit_start_up_time():
     """Test kit start-up time."""
     start_time = time.time()

source/isaaclab/test/performance/test_robot_load_performance.py

@@ -33,6 +33,7 @@ from isaaclab.utils.timer import Timer
         ({"name": "Anymal_D", "robot_cfg": ANYMAL_D_CFG, "expected_load_time": 40.0}, "cpu"),
     ],
 )
+@pytest.mark.isaacsim_ci
 def test_robot_load_performance(test_config, device):
     """Test robot load time."""
     with build_simulation_context(device=device) as sim:

source/isaaclab/test/sensors/test_contact_sensor.py

@@ -369,6 +369,7 @@ def test_no_contact_reporting(setup_simulation):
         assert contact_sensor_2.data.force_matrix_w.sum().item() == 0.0
 
 
+@pytest.mark.isaacsim_ci
 def test_sensor_print(setup_simulation):
     """Test sensor print is working correctly."""
     sim_dt, durations, terrains, devices, carb_settings_iface = setup_simulation

source/isaaclab/test/sensors/test_frame_transformer.py

@@ -384,6 +384,7 @@ def test_frame_transformer_robot_body_to_external_cube(sim):
         torch.testing.assert_close(cube_quat_source_tf[:, 0], cube_quat_b)
 
 
+@pytest.mark.isaacsim_ci
 def test_frame_transformer_offset_frames(sim):
     """Test body transformation w.r.t. base source frame.
 
@@ -479,6 +480,7 @@ def test_frame_transformer_offset_frames(sim):
         torch.testing.assert_close(cube_quat_bottom, cube_quat_w_gt)
 
 
+@pytest.mark.isaacsim_ci
 def test_frame_transformer_all_bodies(sim):
     """Test transformation of all bodies w.r.t. base source frame.
 
@@ -568,6 +570,7 @@ def test_frame_transformer_all_bodies(sim):
             torch.testing.assert_close(bodies_quat_source_tf[:, index], body_quat_b)
 
 
+@pytest.mark.isaacsim_ci
 def test_sensor_print(sim):
     """Test sensor print is working correctly."""
     # Spawn things into stage

source/isaaclab/test/sensors/test_imu.py

@@ -174,6 +174,7 @@ def setup_sim():
     sim.clear_instance()
 
 
+@pytest.mark.isaacsim_ci
 def test_constant_velocity(setup_sim):
     """Test the Imu sensor with a constant velocity.
 
@@ -262,6 +263,7 @@ def test_constant_velocity(setup_sim):
         prev_ang_acc_cube = scene.sensors["imu_cube"].data.ang_acc_b.clone()
 
 
+@pytest.mark.isaacsim_ci
 def test_constant_acceleration(setup_sim):
     """Test the Imu sensor with a constant acceleration."""
     sim, scene = setup_sim
@@ -305,6 +307,7 @@ def test_constant_acceleration(setup_sim):
         )
 
 
+@pytest.mark.isaacsim_ci
 def test_single_dof_pendulum(setup_sim):
     """Test imu against analytical pendulum problem."""
     sim, scene = setup_sim
@@ -438,6 +441,7 @@ def test_single_dof_pendulum(setup_sim):
         )
 
 
+@pytest.mark.isaacsim_ci
 def test_offset_calculation(setup_sim):
     """Test offset configuration argument."""
     sim, scene = setup_sim
@@ -512,6 +516,7 @@ def test_offset_calculation(setup_sim):
         )
 
 
+@pytest.mark.isaacsim_ci
 def test_env_ids_propagation(setup_sim):
     """Test that env_ids argument propagates through update and reset methods"""
     sim, scene = setup_sim
@@ -542,6 +547,7 @@ def test_env_ids_propagation(setup_sim):
     scene.update(sim.get_physics_dt())
 
 
+@pytest.mark.isaacsim_ci
 def test_sensor_print(setup_sim):
     """Test sensor print is working correctly."""
     sim, scene = setup_sim

source/isaaclab/test/sensors/test_multi_tiled_camera.py

@@ -68,6 +68,7 @@ def setup_camera():
     sim.clear_instance()
 
 
+@pytest.mark.isaacsim_ci
 def test_multi_tiled_camera_init(setup_camera):
     """Test initialization of multiple tiled cameras."""
     camera_cfg, sim, dt = setup_camera
@@ -149,6 +150,7 @@ def test_multi_tiled_camera_init(setup_camera):
         del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_all_annotators_multi_tiled_camera(setup_camera):
     """Test initialization of multiple tiled cameras with all supported annotators."""
     camera_cfg, sim, dt = setup_camera
@@ -261,6 +263,7 @@ def test_all_annotators_multi_tiled_camera(setup_camera):
 
 
 @flaky(max_runs=3, min_passes=1)
+@pytest.mark.isaacsim_ci
 def test_different_resolution_multi_tiled_camera(setup_camera):
     """Test multiple tiled cameras with different resolutions."""
     camera_cfg, sim, dt = setup_camera
@@ -332,6 +335,7 @@ def test_different_resolution_multi_tiled_camera(setup_camera):
         del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_frame_offset_multi_tiled_camera(setup_camera):
     """Test frame offset issue with multiple tiled cameras"""
     camera_cfg, sim, dt = setup_camera
@@ -397,6 +401,7 @@ def test_frame_offset_multi_tiled_camera(setup_camera):
 
 
 @flaky(max_runs=3, min_passes=1)
+@pytest.mark.isaacsim_ci
 def test_frame_different_poses_multi_tiled_camera(setup_camera):
     """Test multiple tiled cameras placed at different poses render different images."""
     camera_cfg, sim, dt = setup_camera

source/isaaclab/test/sensors/test_outdated_sensor.py

@@ -42,6 +42,7 @@ def temp_dir():
 @pytest.mark.parametrize("task_name", ["Isaac-Stack-Cube-Franka-IK-Rel-v0"])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("num_envs", [1, 2])
+@pytest.mark.isaacsim_ci
 def test_action_state_recorder_terms(temp_dir, task_name, device, num_envs):
     """Check FrameTransformer values after reset."""
     omni.usd.get_context().new_stage()

source/isaaclab/test/sensors/test_ray_caster_camera.py

@@ -100,6 +100,7 @@ def setup_sim():
     teardown(sim)
 
 
+@pytest.mark.isaacsim_ci
 def test_camera_init(setup_sim):
     """Test camera initialization."""
     sim, camera_cfg, dt = setup_sim
@@ -136,6 +137,7 @@ def test_camera_init(setup_sim):
     assert camera.frame[0] == 0
 
 
+@pytest.mark.isaacsim_ci
 def test_camera_resolution(setup_sim):
     """Test camera resolution is correctly set."""
     sim, camera_cfg, dt = setup_sim
@@ -149,6 +151,7 @@ def test_camera_resolution(setup_sim):
         assert im_data.shape == (1, camera_cfg.pattern_cfg.height, camera_cfg.pattern_cfg.width, 1)
 
 
+@pytest.mark.isaacsim_ci
 def test_depth_clipping(setup_sim):
     """Test depth clipping.
 
@@ -237,6 +240,7 @@ def test_depth_clipping(setup_sim):
     assert camera_max.data.output["distance_to_image_plane"].max() <= camera_cfg_zero.max_distance
 
 
+@pytest.mark.isaacsim_ci
 def test_camera_init_offset(setup_sim):
     """Test camera initialization with offset using different conventions."""
     sim, camera_cfg, dt = setup_sim
@@ -292,6 +296,7 @@ def test_camera_init_offset(setup_sim):
     np.testing.assert_allclose(camera_ros.data.quat_w_world[0].cpu().numpy(), QUAT_WORLD, rtol=1e-5)
 
 
+@pytest.mark.isaacsim_ci
 def test_camera_init_intrinsic_matrix(setup_sim):
     """Test camera initialization from intrinsic matrix."""
     sim, camera_cfg, dt = setup_sim
@@ -343,6 +348,7 @@ def test_camera_init_intrinsic_matrix(setup_sim):
     )
 
 
+@pytest.mark.isaacsim_ci
 def test_multi_camera_init(setup_sim):
     """Test multi-camera initialization."""
     sim, camera_cfg, dt = setup_sim
@@ -381,6 +387,7 @@ def test_multi_camera_init(setup_sim):
                 assert im_data.shape == (1, camera_cfg.pattern_cfg.height, camera_cfg.pattern_cfg.width, 1)
 
 
+@pytest.mark.isaacsim_ci
 def test_camera_set_world_poses(setup_sim):
     """Test camera function to set specific world pose."""
     sim, camera_cfg, dt = setup_sim
@@ -399,6 +406,7 @@ def test_camera_set_world_poses(setup_sim):
     torch.testing.assert_close(camera.data.quat_w_world, orientation)
 
 
+@pytest.mark.isaacsim_ci
 def test_camera_set_world_poses_from_view(setup_sim):
     """Test camera function to set specific world pose from view."""
     sim, camera_cfg, dt = setup_sim
@@ -418,6 +426,7 @@ def test_camera_set_world_poses_from_view(setup_sim):
     torch.testing.assert_close(camera.data.quat_w_ros, quat_ros_gt)
 
 
+@pytest.mark.isaacsim_ci
 def test_intrinsic_matrix(setup_sim):
     """Checks that the camera's set and retrieve methods work for intrinsic matrix."""
     sim, camera_cfg, dt = setup_sim
@@ -442,6 +451,7 @@ def test_intrinsic_matrix(setup_sim):
         torch.testing.assert_close(rs_intrinsic_matrix, camera.data.intrinsic_matrices)
 
 
+@pytest.mark.isaacsim_ci
 def test_throughput(setup_sim):
     """Checks that the single camera gets created properly with a rig."""
     sim, camera_cfg, dt = setup_sim
@@ -493,6 +503,7 @@ def test_throughput(setup_sim):
             assert im_data.shape == (1, camera_cfg.pattern_cfg.height, camera_cfg.pattern_cfg.width, 1)
 
 
+@pytest.mark.isaacsim_ci
 def test_output_equal_to_usdcamera(setup_sim):
     sim, camera_cfg, dt = setup_sim
     camera_pattern_cfg = patterns.PinholeCameraPatternCfg(
@@ -589,6 +600,7 @@ def test_output_equal_to_usdcamera(setup_sim):
     )
 
 
+@pytest.mark.isaacsim_ci
 def test_output_equal_to_usdcamera_offset(setup_sim):
     sim, camera_cfg, dt = setup_sim
     offset_rot = [-0.1251, 0.3617, 0.8731, -0.3020]
@@ -664,6 +676,7 @@ def test_output_equal_to_usdcamera_offset(setup_sim):
     )
 
 
+@pytest.mark.isaacsim_ci
 def test_output_equal_to_usdcamera_prim_offset(setup_sim):
     """Test that the output of the ray caster camera is equal to the output of the usd camera when both are placed
     under an XForm prim that is translated and rotated from the world origin
@@ -758,6 +771,7 @@ def test_output_equal_to_usdcamera_prim_offset(setup_sim):
 
 
 @pytest.mark.parametrize("focal_length", [0.193, 1.93, 19.3])
+@pytest.mark.isaacsim_ci
 def test_output_equal_to_usd_camera_intrinsics(setup_sim, focal_length):
     """
     Test that the output of the ray caster camera and usd camera are the same when both are
@@ -879,6 +893,7 @@ def test_output_equal_to_usd_camera_intrinsics(setup_sim, focal_length):
 
 
 @pytest.mark.parametrize("focal_length_aperture", [(0.193, 0.20955), (1.93, 2.0955), (19.3, 20.955), (0.193, 20.955)])
+@pytest.mark.isaacsim_ci
 def test_output_equal_to_usd_camera_when_intrinsics_set(setup_sim, focal_length_aperture):
     """
     Test that the output of the ray caster camera is equal to the output of the usd camera when both are placed
@@ -988,6 +1003,7 @@ def test_output_equal_to_usd_camera_when_intrinsics_set(setup_sim, focal_length_
     del camera_warp, camera_usd
 
 
+@pytest.mark.isaacsim_ci
 def test_sensor_print(setup_sim):
     """Test sensor print is working correctly."""
     sim, camera_cfg, dt = setup_sim

source/isaaclab/test/sensors/test_tiled_camera.py

@@ -72,6 +72,7 @@ def setup_camera() -> tuple[sim_utils.SimulationContext, TiledCameraCfg, float]:
     sim.clear_instance()
 
 
+@pytest.mark.isaacsim_ci
 def test_single_camera_init(setup_camera):
     """Test single camera initialization."""
     sim, camera_cfg, dt = setup_camera
@@ -118,6 +119,7 @@ def test_single_camera_init(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_depth_clipping_max(setup_camera):
     """Test depth max clipping."""
     sim, _, dt = setup_camera
@@ -156,6 +158,7 @@ def test_depth_clipping_max(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_depth_clipping_none(setup_camera):
     """Test depth none clipping."""
     sim, _, dt = setup_camera
@@ -198,6 +201,7 @@ def test_depth_clipping_none(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_depth_clipping_zero(setup_camera):
     """Test depth zero clipping."""
     sim, _, dt = setup_camera
@@ -236,6 +240,7 @@ def test_depth_clipping_zero(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_multi_camera_init(setup_camera):
     """Test multi-camera initialization."""
     sim, camera_cfg, dt = setup_camera
@@ -291,6 +296,7 @@ def test_multi_camera_init(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_rgb_only_camera(setup_camera):
     """Test initialization with only RGB data type."""
     sim, camera_cfg, dt = setup_camera
@@ -343,6 +349,7 @@ def test_rgb_only_camera(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_data_types(setup_camera):
     """Test different data types for camera initialization."""
     sim, camera_cfg, dt = setup_camera
@@ -389,6 +396,7 @@ def test_data_types(setup_camera):
     del camera_both
 
 
+@pytest.mark.isaacsim_ci
 def test_depth_only_camera(setup_camera):
     """Test initialization with only depth."""
     sim, camera_cfg, dt = setup_camera
@@ -441,6 +449,7 @@ def test_depth_only_camera(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_rgba_only_camera(setup_camera):
     """Test initialization with only RGBA."""
     sim, camera_cfg, dt = setup_camera
@@ -493,6 +502,7 @@ def test_rgba_only_camera(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_distance_to_camera_only_camera(setup_camera):
     """Test initialization with only distance_to_camera."""
     sim, camera_cfg, dt = setup_camera
@@ -545,6 +555,7 @@ def test_distance_to_camera_only_camera(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_distance_to_image_plane_only_camera(setup_camera):
     """Test initialization with only distance_to_image_plane."""
     sim, camera_cfg, dt = setup_camera
@@ -597,6 +608,7 @@ def test_distance_to_image_plane_only_camera(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_normals_only_camera(setup_camera):
     """Test initialization with only normals."""
     sim, camera_cfg, dt = setup_camera
@@ -649,6 +661,7 @@ def test_normals_only_camera(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_motion_vectors_only_camera(setup_camera):
     """Test initialization with only motion_vectors."""
     sim, camera_cfg, dt = setup_camera
@@ -701,6 +714,7 @@ def test_motion_vectors_only_camera(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_semantic_segmentation_colorize_only_camera(setup_camera):
     """Test initialization with only semantic_segmentation."""
     sim, camera_cfg, dt = setup_camera
@@ -754,6 +768,7 @@ def test_semantic_segmentation_colorize_only_camera(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_instance_segmentation_fast_colorize_only_camera(setup_camera):
     """Test initialization with only instance_segmentation_fast."""
     sim, camera_cfg, dt = setup_camera
@@ -807,6 +822,7 @@ def test_instance_segmentation_fast_colorize_only_camera(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_instance_id_segmentation_fast_colorize_only_camera(setup_camera):
     """Test initialization with only instance_id_segmentation_fast."""
     sim, camera_cfg, dt = setup_camera
@@ -860,6 +876,7 @@ def test_instance_id_segmentation_fast_colorize_only_camera(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_semantic_segmentation_non_colorize_only_camera(setup_camera):
     """Test initialization with only semantic_segmentation."""
     sim, camera_cfg, dt = setup_camera
@@ -915,6 +932,7 @@ def test_semantic_segmentation_non_colorize_only_camera(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_instance_segmentation_fast_non_colorize_only_camera(setup_camera):
     """Test initialization with only instance_segmentation_fast."""
     sim, camera_cfg, dt = setup_camera
@@ -1023,6 +1041,7 @@ def test_instance_id_segmentation_fast_non_colorize_only_camera(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_all_annotators_camera(setup_camera):
     """Test initialization with all supported annotators."""
     sim, camera_cfg, dt = setup_camera
@@ -1121,6 +1140,7 @@ def test_all_annotators_camera(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_all_annotators_low_resolution_camera(setup_camera):
     """Test initialization with all supported annotators."""
     sim, camera_cfg, dt = setup_camera
@@ -1221,6 +1241,7 @@ def test_all_annotators_low_resolution_camera(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_all_annotators_non_perfect_square_number_camera(setup_camera):
     """Test initialization with all supported annotators."""
     sim, camera_cfg, dt = setup_camera
@@ -1319,6 +1340,7 @@ def test_all_annotators_non_perfect_square_number_camera(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_all_annotators_instanceable(setup_camera):
     """Test initialization with all supported annotators on instanceable assets."""
     sim, camera_cfg, dt = setup_camera
@@ -1448,6 +1470,7 @@ def test_all_annotators_instanceable(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_throughput(setup_camera):
     """Test tiled camera throughput."""
     sim, camera_cfg, dt = setup_camera
@@ -1484,6 +1507,7 @@ def test_throughput(setup_camera):
     del camera
 
 
+@pytest.mark.isaacsim_ci
 def test_output_equal_to_usd_camera_intrinsics(setup_camera):
     """
     Test that the output of the ray caster camera and the usd camera are the same when both are
@@ -1575,6 +1599,7 @@ def test_output_equal_to_usd_camera_intrinsics(setup_camera):
     del camera_usd
 
 
+@pytest.mark.isaacsim_ci
 def test_sensor_print(setup_camera):
     """Test sensor print is working correctly."""
     sim, camera_cfg, _ = setup_camera
@@ -1586,6 +1611,7 @@ def test_sensor_print(setup_camera):
     print(sensor)
 
 
+@pytest.mark.isaacsim_ci
 def test_frame_offset_small_resolution(setup_camera):
     """Test frame offset issue with small resolution camera."""
     sim, camera_cfg, dt = setup_camera
@@ -1628,6 +1654,7 @@ def test_frame_offset_small_resolution(setup_camera):
     assert torch.abs(image_after - image_before).mean() > 0.1  # images of same color should be below 0.01
 
 
+@pytest.mark.isaacsim_ci
 def test_frame_offset_large_resolution(setup_camera):
     """Test frame offset issue with large resolution camera."""
     sim, camera_cfg, dt = setup_camera

source/isaaclab/test/sim/test_build_simulation_context_headless.py

@@ -30,6 +30,7 @@ from isaaclab.sim.simulation_context import build_simulation_context
 @pytest.mark.parametrize("gravity_enabled", [True, False])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("dt", [0.01, 0.1])
+@pytest.mark.isaacsim_ci
 def test_build_simulation_context_no_cfg(gravity_enabled, device, dt):
     """Test that the simulation context is built when no simulation cfg is passed in."""
     with build_simulation_context(gravity_enabled=gravity_enabled, device=device, dt=dt) as sim:
@@ -46,6 +47,7 @@ def test_build_simulation_context_no_cfg(gravity_enabled, device, dt):
 
 
 @pytest.mark.parametrize("add_ground_plane", [True, False])
+@pytest.mark.isaacsim_ci
 def test_build_simulation_context_ground_plane(add_ground_plane):
     """Test that the simulation context is built with the correct ground plane."""
     with build_simulation_context(add_ground_plane=add_ground_plane) as _:
@@ -55,6 +57,7 @@ def test_build_simulation_context_ground_plane(add_ground_plane):
 
 @pytest.mark.parametrize("add_lighting", [True, False])
 @pytest.mark.parametrize("auto_add_lighting", [True, False])
+@pytest.mark.isaacsim_ci
 def test_build_simulation_context_auto_add_lighting(add_lighting, auto_add_lighting):
     """Test that the simulation context is built with the correct lighting."""
     with build_simulation_context(add_lighting=add_lighting, auto_add_lighting=auto_add_lighting) as _:
@@ -66,6 +69,7 @@ def test_build_simulation_context_auto_add_lighting(add_lighting, auto_add_light
             assert not is_prim_path_valid("/World/defaultDomeLight")
 
 
+@pytest.mark.isaacsim_ci
 def test_build_simulation_context_cfg():
     """Test that the simulation context is built with the correct cfg and values don't get overridden."""
     dt = 0.001

source/isaaclab/test/sim/test_mjcf_converter.py

@@ -53,6 +53,7 @@ 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
@@ -70,6 +71,7 @@ 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
@@ -89,6 +91,7 @@ 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

source/isaaclab/test/sim/test_schemas.py

@@ -81,6 +81,7 @@ def setup_simulation():
     sim.clear_instance()
 
 
+@pytest.mark.isaacsim_ci
 def test_valid_properties_cfg(setup_simulation):
     """Test that all the config instances have non-None values.
 
@@ -93,6 +94,7 @@ def test_valid_properties_cfg(setup_simulation):
             assert v is not None, f"{cfg.__class__.__name__}:{k} is None. Please make sure schemas are valid."
 
 
+@pytest.mark.isaacsim_ci
 def test_modify_properties_on_invalid_prim(setup_simulation):
     """Test modifying properties on a prim that does not exist."""
     sim, _, rigid_cfg, _, _, _ = setup_simulation
@@ -101,6 +103,7 @@ def test_modify_properties_on_invalid_prim(setup_simulation):
         schemas.modify_rigid_body_properties("/World/asset_xyz", rigid_cfg)
 
 
+@pytest.mark.isaacsim_ci
 def test_modify_properties_on_articulation_instanced_usd(setup_simulation):
     """Test modifying properties on articulation instanced usd.
 
@@ -129,6 +132,7 @@ def test_modify_properties_on_articulation_instanced_usd(setup_simulation):
     schemas.modify_articulation_root_properties("/World/asset_instanced", arti_cfg)
 
 
+@pytest.mark.isaacsim_ci
 def test_modify_properties_on_articulation_usd(setup_simulation):
     """Test setting properties on articulation usd."""
     sim, arti_cfg, rigid_cfg, collision_cfg, mass_cfg, joint_cfg = setup_simulation
@@ -158,6 +162,7 @@ def test_modify_properties_on_articulation_usd(setup_simulation):
     _validate_articulation_properties_on_prim("/World/asset", arti_cfg, True)
 
 
+@pytest.mark.isaacsim_ci
 def test_defining_rigid_body_properties_on_prim(setup_simulation):
     """Test defining rigid body properties on a prim."""
     sim, _, rigid_cfg, collision_cfg, mass_cfg, _ = setup_simulation
@@ -189,6 +194,7 @@ def test_defining_rigid_body_properties_on_prim(setup_simulation):
         sim.step()
 
 
+@pytest.mark.isaacsim_ci
 def test_defining_articulation_properties_on_prim(setup_simulation):
     """Test defining articulation properties on a prim."""
     sim, arti_cfg, rigid_cfg, collision_cfg, mass_cfg, _ = setup_simulation

source/isaaclab/test/sim/test_simulation_context.py

@@ -34,6 +34,7 @@ def test_setup_teardown():
     SimulationContext.clear_instance()
 
 
+@pytest.mark.isaacsim_ci
 def test_singleton():
     """Tests that the singleton is working."""
     sim1 = SimulationContext()
@@ -55,6 +56,7 @@ def test_singleton():
     sim3.clear_instance()
 
 
+@pytest.mark.isaacsim_ci
 def test_initialization():
     """Test the simulation config."""
     cfg = SimulationCfg(physics_prim_path="/Physics/PhysX", render_interval=5, gravity=(0.0, -0.5, -0.5))
@@ -76,6 +78,7 @@ def test_initialization():
     np.testing.assert_almost_equal(gravity, cfg.gravity)
 
 
+@pytest.mark.isaacsim_ci
 def test_sim_version():
     """Test obtaining the version."""
     sim = SimulationContext()
@@ -84,6 +87,7 @@ def test_sim_version():
     assert version[0] >= 4
 
 
+@pytest.mark.isaacsim_ci
 def test_carb_setting():
     """Test setting carb settings."""
     sim = SimulationContext()
@@ -95,6 +99,7 @@ def test_carb_setting():
     assert tuple(sim.get_setting("/myExt/using_omniverse_version")) == tuple(sim.get_version())
 
 
+@pytest.mark.isaacsim_ci
 def test_headless_mode():
     """Test that render mode is headless since we are running in headless mode."""
     sim = SimulationContext()
@@ -131,6 +136,7 @@ def test_headless_mode():
 #     assert ctypes.c_long.from_address(id(sim)).value == sim_ref_count - 1
 
 
+@pytest.mark.isaacsim_ci
 def test_zero_gravity():
     """Test that gravity can be properly disabled."""
     cfg = SimulationCfg(gravity=(0.0, 0.0, 0.0))

source/isaaclab/test/sim/test_simulation_render_config.py

@@ -28,6 +28,7 @@ from isaaclab.sim.simulation_context import SimulationContext
 
 
 @pytest.mark.skip(reason="Timeline not stopped")
+@pytest.mark.isaacsim_ci
 def test_render_cfg():
     """Test that the simulation context is created with the correct render cfg."""
     enable_translucency = True
@@ -92,6 +93,7 @@ def test_render_cfg():
     assert carb_settings_iface.get("/rtx/post/aa/op") == 4  # dlss = 3, dlaa=4
 
 
+@pytest.mark.isaacsim_ci
 def test_render_cfg_presets():
     """Test that the simulation context is created with the correct render cfg preset with overrides."""
 
@@ -146,6 +148,7 @@ def test_render_cfg_presets():
 
 
 @pytest.mark.skip(reason="Timeline not stopped")
+@pytest.mark.isaacsim_ci
 def test_render_cfg_defaults():
     """Test that the simulation context is created with the correct render cfg."""
     enable_translucency = False

source/isaaclab/test/sim/test_spawn_from_files.py

@@ -43,6 +43,7 @@ def sim():
     sim.clear_instance()
 
 
+@pytest.mark.isaacsim_ci
 def test_spawn_usd(sim):
     """Test loading prim from Usd file."""
     # Spawn cone
@@ -54,6 +55,7 @@ def test_spawn_usd(sim):
     assert prim.GetPrimTypeInfo().GetTypeName() == "Xform"
 
 
+@pytest.mark.isaacsim_ci
 def test_spawn_usd_fails(sim):
     """Test loading prim from Usd file fails when asset usd path is invalid."""
     # Spawn cone
@@ -63,6 +65,7 @@ def test_spawn_usd_fails(sim):
         cfg.func("/World/Franka", cfg)
 
 
+@pytest.mark.isaacsim_ci
 def test_spawn_urdf(sim):
     """Test loading prim from URDF file."""
     # retrieve path to urdf importer extension
@@ -83,6 +86,7 @@ def test_spawn_urdf(sim):
     assert prim.GetPrimTypeInfo().GetTypeName() == "Xform"
 
 
+@pytest.mark.isaacsim_ci
 def test_spawn_ground_plane(sim):
     """Test loading prim for the ground plane from grid world USD."""
     # Spawn ground plane

source/isaaclab/test/sim/test_urdf_converter.py

@@ -53,6 +53,7 @@ def sim_config():
     sim.clear_instance()
 
 
+@pytest.mark.isaacsim_ci
 def test_no_change(sim_config):
     """Call conversion twice. This should not generate a new USD file."""
     sim, config = sim_config
@@ -69,6 +70,7 @@ def test_no_change(sim_config):
     assert time_usd_file_created == new_time_usd_file_created
 
 
+@pytest.mark.isaacsim_ci
 def test_config_change(sim_config):
     """Call conversion twice but change the config in the second call. This should generate a new USD file."""
     sim, config = sim_config
@@ -87,6 +89,7 @@ def test_config_change(sim_config):
     assert time_usd_file_created != new_time_usd_file_created
 
 
+@pytest.mark.isaacsim_ci
 def test_create_prim_from_usd(sim_config):
     """Call conversion and create a prim from it."""
     sim, config = sim_config
@@ -98,6 +101,7 @@ def test_create_prim_from_usd(sim_config):
     assert prim_utils.is_prim_path_valid(prim_path)
 
 
+@pytest.mark.isaacsim_ci
 def test_config_drive_type(sim_config):
     """Change the drive mechanism of the robot to be position."""
     sim, config = sim_config

source/isaaclab_mimic/test/test_generate_dataset.py

@@ -107,6 +107,7 @@ def setup_test_environment():
         del os.environ["PYTHONUNBUFFERED"]
 
 
+@pytest.mark.isaacsim_ci
 def test_generate_dataset(setup_test_environment):
     """Test the dataset generation script."""
     workflow_root = setup_test_environment

source/isaaclab_tasks/test/test_environments.py

@@ -29,6 +29,7 @@ import isaaclab_tasks  # noqa: F401
 
 @pytest.mark.parametrize("num_envs, device", [(32, "cuda"), (1, "cuda")])
 @pytest.mark.parametrize("task_name", setup_environment(include_play=False, factory_envs=False, multi_agent=False))
+@pytest.mark.isaacsim_ci
 def test_environments(task_name, num_envs, device):
     # run environments without stage in memory
     _run_environments(task_name, device, num_envs, create_stage_in_memory=False)

source/isaaclab_tasks/test/test_factory_environments.py

@@ -21,6 +21,7 @@ import isaaclab_tasks  # noqa: F401
 
 @pytest.mark.parametrize("num_envs, device", [(32, "cuda"), (1, "cuda")])
 @pytest.mark.parametrize("task_name", setup_environment(factory_envs=True, multi_agent=False))
+@pytest.mark.isaacsim_ci
 def test_factory_environments(task_name, num_envs, device):
     """Run all factory environments and check environments return valid signals."""
     print(f">>> Running test for environment: {task_name}")

tools/conftest.py

@@ -132,7 +132,7 @@ def create_timeout_test_case(test_file, timeout, stdout_data, stderr_data):
     return test_suite
 
 
-def run_individual_tests(test_files, workspace_root):
+def run_individual_tests(test_files, workspace_root, isaacsim_ci):
     """Run each test file separately, ensuring one finishes before starting the next."""
     failed_tests = []
     test_status = {}
@@ -156,12 +156,20 @@ def run_individual_tests(test_files, workspace_root):
             "-m",
             "pytest",
             "--no-header",
+            "-c",
+            f"{workspace_root}/pytest.ini",
             f"--junitxml=tests/test-reports-{str(file_name)}.xml",
-            str(test_file),
-            "-v",
+            "--verbose",
             "--tb=short",
         ]
 
+        if isaacsim_ci:
+            cmd.append("-m")
+            cmd.append("isaacsim_ci")
+
+        # Add the test file path last
+        cmd.append(str(test_file))
+
         # Run test with timeout and capture output
         returncode, stdout_data, stderr_data, timed_out = capture_test_output_with_timeout(cmd, timeout, env)
 
@@ -269,6 +277,8 @@ def pytest_sessionstart(session):
     filter_pattern = os.environ.get("TEST_FILTER_PATTERN", "")
     exclude_pattern = os.environ.get("TEST_EXCLUDE_PATTERN", "")
 
+    isaacsim_ci = os.environ.get("ISAACSIM_CI_SHORT", "false") == "true"
+
     # Also try to get from pytest config
     if hasattr(session.config, "option") and hasattr(session.config.option, "filter_pattern"):
         filter_pattern = filter_pattern or getattr(session.config.option, "filter_pattern", "")
@@ -286,6 +296,7 @@ def pytest_sessionstart(session):
 
     # Get all test files in the source directories
     test_files = []
+
     for source_dir in source_dirs:
         if not os.path.exists(source_dir):
             print(f"Error: source directory not found at {source_dir}")
@@ -313,6 +324,14 @@ def pytest_sessionstart(session):
 
                     test_files.append(full_path)
 
+    if isaacsim_ci:
+        new_test_files = []
+        for test_file in test_files:
+            with open(test_file) as f:
+                if "@pytest.mark.isaacsim_ci" in f.read():
+                    new_test_files.append(test_file)
+        test_files = new_test_files
+
     if not test_files:
         print("No test files found in source directory")
         pytest.exit("No test files found", returncode=1)
@@ -322,7 +341,7 @@ def pytest_sessionstart(session):
         print(f"  - {test_file}")
 
     # Run all tests individually
-    failed_tests, test_status = run_individual_tests(test_files, workspace_root)
+    failed_tests, test_status = run_individual_tests(test_files, workspace_root, isaacsim_ci)
 
     print("failed tests:", failed_tests)
 
@@ -404,4 +423,4 @@ def pytest_sessionstart(session):
     print(summary_str)
 
     # Exit pytest after custom execution to prevent normal pytest from overwriting our report
-    pytest.exit("Custom test execution completed", returncode=0)
+    pytest.exit("Custom test execution completed", returncode=0 if num_failing == 0 else 1)