Fixes articulation and render_cfg tests to be proper pytests (#2851)

# Description

Fixes some pytest migration errors for test_articulation and
test_render_cfg

Fixes # (issue)

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
- [x] 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

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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.40.12"
+version = "0.40.13"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.40.13 (2025-07-03)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed unittest tests that are floating inside pytests for articulation and rendering
+
+
 0.40.12 (2025-07-03)
 ~~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/test/assets/test_articulation.py

@@ -1572,36 +1572,38 @@ def test_body_incoming_joint_wrench_b_single_joint(sim, num_articulations, devic
         rtol=1e-3,
     )
 
-    def test_setting_articulation_root_prim_path(self):
+
+@pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+def test_setting_articulation_root_prim_path(sim, device):
     """Test that the articulation root prim path can be set explicitly."""
-        with build_simulation_context(device="cuda:0", add_ground_plane=False, auto_add_lighting=True) as sim:
     sim._app_control_on_stop_handle = None
     # Create articulation
     articulation_cfg = generate_articulation_cfg(articulation_type="humanoid")
     print(articulation_cfg.spawn.usd_path)
     articulation_cfg.articulation_root_prim_path = "/torso"
-            articulation, _ = generate_articulation(articulation_cfg, 1, "cuda:0")
+    articulation, _ = generate_articulation(articulation_cfg, 1, device)
 
     # Check that boundedness of articulation is correct
-            self.assertEqual(ctypes.c_long.from_address(id(articulation)).value, 1)
+    assert ctypes.c_long.from_address(id(articulation)).value == 1
 
     # Play sim
     sim.reset()
     # Check if articulation is initialized
-            self.assertTrue(articulation._is_initialized)
+    assert articulation._is_initialized
 
-    def test_setting_invalid_articulation_root_prim_path(self):
+
+@pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+def test_setting_invalid_articulation_root_prim_path(sim, device):
     """Test that the articulation root prim path can be set explicitly."""
-        with build_simulation_context(device="cuda:0", add_ground_plane=False, auto_add_lighting=True) as sim:
     sim._app_control_on_stop_handle = None
     # Create articulation
     articulation_cfg = generate_articulation_cfg(articulation_type="humanoid")
     print(articulation_cfg.spawn.usd_path)
     articulation_cfg.articulation_root_prim_path = "/non_existing_prim_path"
-            articulation, _ = generate_articulation(articulation_cfg, 1, "cuda:0")
+    articulation, _ = generate_articulation(articulation_cfg, 1, device=device)
 
     # Check that boundedness of articulation is correct
-            self.assertEqual(ctypes.c_long.from_address(id(articulation)).value, 1)
+    assert ctypes.c_long.from_address(id(articulation)).value == 1
 
     # Play sim
     with pytest.raises(RuntimeError):

source/isaaclab/test/sim/test_simulation_render_config.py

@@ -89,7 +89,8 @@ def test_render_cfg():
     assert carb_settings_iface.get("/rtx/ambientOcclusion/enabled") == sim.cfg.render.enable_ambient_occlusion
     assert carb_settings_iface.get("/rtx/post/aa/op") == 4  # dlss = 3, dlaa=4
 
-    def test_render_cfg_presets(self):
+
+def test_render_cfg_presets():
     """Test that the simulation context is created with the correct render cfg preset with overrides."""
 
     # carb setting dictionary overrides
@@ -132,7 +133,7 @@ def test_render_cfg():
 
             setting_val = get_carb_setting(carb_settings_iface, setting_name)
 
-                self.assertEqual(setting_gt, setting_val)
+            assert setting_gt == setting_val
 
 
 @pytest.mark.skip(reason="Timeline not stopped")