Switches unittest to pytest for testing (#2459)

# Description

Switches our unit testing framework from unittest to pytest to enable
better CI logging and improve developer experience when checking for
test failures.

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)

## 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
- [x] 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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

---------
Co-authored-by: Pascal Roth <roth.pascal@outlook.de>
Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>

.gitignore

@@ -63,3 +63,6 @@ _build
 
 # Teleop Recorded Dataset
 datasets
+
+# Tests
+tests/

.vscode/tools/launch.template.json

@@ -33,6 +33,25 @@
             "args" : ["--task", "Isaac-Reach-Franka-v0", "--num_envs", "32"],
             "program": "${workspaceFolder}/scripts/reinforcement_learning/rsl_rl/play.py",
             "console": "integratedTerminal"
+        },
+        {
+            "name": "Python: SinglePytest",
+            "type": "python",
+            "request": "launch",
+            "module": "pytest",
+            "args": [
+              "${file}"
+            ],
+            "console": "integratedTerminal"
+        },
+        {
+            "name": "Python: ALL Pytest",
+            "type": "python",
+            "request": "launch",
+            "module": "pytest",
+            "args": ["source/isaaclab/test"],
+            "console": "integratedTerminal",
+            "justMyCode": false
         }
     ]
 }

isaaclab.bat

@@ -511,7 +511,7 @@ if "%arg%"=="-i" (
             set "skip=1"
         )
     )
-    !python_exe! tools\run_all_tests.py !allArgs!
+    !python_exe! -m pytest tools !allArgs!
     goto :end
 ) else if "%arg%"=="--test" (
     rem run the python provided by Isaac Sim
@@ -525,7 +525,7 @@ if "%arg%"=="-i" (
             set "skip=1"
         )
     )
-    !python_exe! tools\run_all_tests.py !allArgs!
+    !python_exe! -m pytest tools !allArgs!
     goto :end
 ) else if "%arg%"=="-v" (
     rem update the vscode settings

isaaclab.sh

@@ -390,7 +390,7 @@ while [[ $# -gt 0 ]]; do
             # run the python provided by isaacsim
             python_exe=$(extract_python_exe)
             shift # past argument
-            ${python_exe} ${ISAACLAB_PATH}/tools/run_all_tests.py $@
+            ${python_exe} -m pytest ${ISAACLAB_PATH}/tools $@
             # exit neatly
             break
             ;;

source/isaaclab/isaaclab/app/__init__.py

@@ -13,4 +13,3 @@ These include:
 """
 
 from .app_launcher import AppLauncher  # noqa: F401, F403
-from .runners import run_tests  # noqa: F401, F403

source/isaaclab/isaaclab/app/runners.py

-# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
-# All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-
-"""Sub-module with runners to simplify running main via unittest."""
-
-import unittest
-
-
-def run_tests(verbosity: int = 2, **kwargs):
-    """Wrapper for running tests via ``unittest``.
-
-    Args:
-        verbosity: Verbosity level for the test runner.
-        **kwargs: Additional arguments to pass to the `unittest.main` function.
-    """
-    # run main
-    unittest.main(verbosity=verbosity, exit=True, **kwargs)

source/isaaclab/setup.py

@@ -39,6 +39,10 @@ INSTALL_REQUIRES = [
     "pillow==11.0.0",
     # livestream
     "starlette==0.46.0",
+    # testing
+    "pytest",
+    "pytest-mock",
+    "junitparser",
     "flatdict==4.0.1",
 ]
 

source/isaaclab/test/app/test_argparser_launch.py

@@ -4,44 +4,39 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 import argparse
-import unittest
-from unittest import mock
-
-from isaaclab.app import AppLauncher, run_tests
-
-
-class TestAppLauncher(unittest.TestCase):
-    """Test launching of the simulation app using AppLauncher."""
-
-    @mock.patch("argparse.ArgumentParser.parse_args", return_value=argparse.Namespace(livestream=1))
-    def test_livestream_launch_with_argparser(self, mock_args):
-        """Test launching with argparser arguments."""
-        # create argparser
-        parser = argparse.ArgumentParser()
-        # add app launcher arguments
-        AppLauncher.add_app_launcher_args(parser)
-        # check that argparser has the mandatory arguments
-        for name in AppLauncher._APPLAUNCHER_CFG_INFO:
-            self.assertTrue(parser._option_string_actions[f"--{name}"])
-        # parse args
-        mock_args = parser.parse_args()
-        # everything defaults to None
-        app = AppLauncher(mock_args).app
-
-        # import settings
-        import carb
-
-        # acquire settings interface
-        carb_settings_iface = carb.settings.get_settings()
-        # check settings
-        # -- no-gui mode
-        self.assertEqual(carb_settings_iface.get("/app/window/enabled"), False)
-        # -- livestream
-        self.assertEqual(carb_settings_iface.get("/app/livestream/enabled"), True)
-
-        # close the app on exit
-        app.close()
-
-
-if __name__ == "__main__":
-    run_tests()
+
+import pytest
+
+from isaaclab.app import AppLauncher
+
+
+@pytest.mark.usefixtures("mocker")
+def test_livestream_launch_with_argparser(mocker):
+    """Test launching with argparser arguments."""
+    # Mock the parse_args method
+    mocker.patch("argparse.ArgumentParser.parse_args", return_value=argparse.Namespace(livestream=1, headless=True))
+    # create argparser
+    parser = argparse.ArgumentParser()
+    # add app launcher arguments
+    AppLauncher.add_app_launcher_args(parser)
+    # check that argparser has the mandatory arguments
+    for name in AppLauncher._APPLAUNCHER_CFG_INFO:
+        assert parser._option_string_actions[f"--{name}"]
+    # parse args
+    mock_args = parser.parse_args()
+    # everything defaults to None
+    app = AppLauncher(mock_args).app
+
+    # import settings
+    import carb
+
+    # acquire settings interface
+    carb_settings_iface = carb.settings.get_settings()
+    # check settings
+    # -- no-gui mode
+    assert carb_settings_iface.get("/app/window/enabled") is False
+    # -- livestream
+    assert carb_settings_iface.get("/app/livestream/enabled") is True
+
+    # close the app on exit
+    app.close()

source/isaaclab/test/app/test_env_var_launch.py

@@ -4,35 +4,30 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 import os
-import unittest
 
-from isaaclab.app import AppLauncher, run_tests
+import pytest
 
+from isaaclab.app import AppLauncher
 
-class TestAppLauncher(unittest.TestCase):
-    """Test launching of the simulation app using AppLauncher."""
 
-    def test_livestream_launch_with_env_var(self):
-        """Test launching with no-keyword args but environment variables."""
-        # manually set the settings as well to make sure they are set correctly
-        os.environ["LIVESTREAM"] = "1"
-        # everything defaults to None
-        app = AppLauncher().app
+@pytest.mark.usefixtures("mocker")
+def test_livestream_launch_with_env_vars(mocker):
+    """Test launching with environment variables."""
+    # Mock the environment variables
+    mocker.patch.dict(os.environ, {"LIVESTREAM": "1", "HEADLESS": "1"})
+    # everything defaults to None
+    app = AppLauncher().app
 
-        # import settings
-        import carb
+    # import settings
+    import carb
 
-        # acquire settings interface
-        carb_settings_iface = carb.settings.get_settings()
-        # check settings
-        # -- no-gui mode
-        self.assertEqual(carb_settings_iface.get("/app/window/enabled"), False)
-        # -- livestream
-        self.assertEqual(carb_settings_iface.get("/app/livestream/enabled"), True)
+    # acquire settings interface
+    carb_settings_iface = carb.settings.get_settings()
+    # check settings
+    # -- no-gui mode
+    assert carb_settings_iface.get("/app/window/enabled") is False
+    # -- livestream
+    assert carb_settings_iface.get("/app/livestream/enabled") is True
 
-        # close the app on exit
-        app.close()
-
-
-if __name__ == "__main__":
-    run_tests()
+    # close the app on exit
+    app.close()

source/isaaclab/test/app/test_kwarg_launch.py

@@ -3,33 +3,27 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-import unittest
+import pytest
 
-from isaaclab.app import AppLauncher, run_tests
+from isaaclab.app import AppLauncher
 
 
-class TestAppLauncher(unittest.TestCase):
-    """Test launching of the simulation app using AppLauncher."""
+@pytest.mark.usefixtures("mocker")
+def test_livestream_launch_with_kwargs(mocker):
+    """Test launching with keyword arguments."""
+    # everything defaults to None
+    app = AppLauncher(headless=True, livestream=1).app
 
-    def test_livestream_launch_with_kwarg(self):
-        """Test launching with headless and livestreaming arguments."""
-        # everything defaults to None
-        app = AppLauncher(headless=True, livestream=1).app
+    # import settings
+    import carb
 
-        # import settings
-        import carb
+    # acquire settings interface
+    carb_settings_iface = carb.settings.get_settings()
+    # check settings
+    # -- no-gui mode
+    assert carb_settings_iface.get("/app/window/enabled") is False
+    # -- livestream
+    assert carb_settings_iface.get("/app/livestream/enabled") is True
 
-        # acquire settings interface
-        carb_settings_iface = carb.settings.get_settings()
-        # check settings
-        # -- no-gui mode
-        self.assertEqual(carb_settings_iface.get("/app/window/enabled"), False)
-        # -- livestream
-        self.assertEqual(carb_settings_iface.get("/app/livestream/enabled"), True)
-
-        # close the app on exit
-        app.close()
-
-
-if __name__ == "__main__":
-    run_tests()
+    # close the app on exit
+    app.close()

source/isaaclab/test/controllers/test_pink_ik.py

@@ -11,7 +11,7 @@ import sys
 if sys.platform != "win32":
     import pinocchio  # noqa: F401
 
-from isaaclab.app import AppLauncher, run_tests
+from isaaclab.app import AppLauncher
 
 # launch omniverse app
 simulation_app = AppLauncher(headless=True).app
@@ -198,7 +198,3 @@ class TestPinkIKController(unittest.TestCase):
                         self.right_hand_roll_link_pose[2] -= 0.05
 
         env.close()
-
-
-if __name__ == "__main__":
-    run_tests()

source/isaaclab/test/deps/test_scipy.py

@@ -11,65 +11,49 @@ warnings.filterwarnings("ignore", category=DeprecationWarning)
 
 import numpy as np
 import scipy.interpolate as interpolate
-import unittest
 
-from isaaclab.app import run_tests
 
-
-class TestScipyOperations(unittest.TestCase):
-    """Tests for assuring scipy related operations used in Isaac Lab."""
-
-    def test_interpolation(self):
-        """Test scipy interpolation 2D method."""
-        # parameters
-        size = (10.0, 12.0)
-        horizontal_scale = 0.1
-        vertical_scale = 0.005
-        downsampled_scale = 0.2
-        noise_range = (-0.02, 0.1)
-        noise_step = 0.02
-        # switch parameters to discrete units
-        # -- horizontal scale
-        width_pixels = int(size[0] / horizontal_scale)
-        length_pixels = int(size[1] / horizontal_scale)
-        # -- downsampled scale
-        width_downsampled = int(size[0] / downsampled_scale)
-        length_downsampled = int(size[1] / downsampled_scale)
-        # -- height
-        height_min = int(noise_range[0] / vertical_scale)
-        height_max = int(noise_range[1] / vertical_scale)
-        height_step = int(noise_step / vertical_scale)
-
-        # create range of heights possible
-        height_range = np.arange(height_min, height_max + height_step, height_step)
-        # sample heights randomly from the range along a grid
-        height_field_downsampled = np.random.choice(height_range, size=(width_downsampled, length_downsampled))
-        # create interpolation function for the sampled heights
-        x = np.linspace(0, size[0] * horizontal_scale, width_downsampled)
-        y = np.linspace(0, size[1] * horizontal_scale, length_downsampled)
-
-        # interpolate the sampled heights to obtain the height field
-        x_upsampled = np.linspace(0, size[0] * horizontal_scale, width_pixels)
-        y_upsampled = np.linspace(0, size[1] * horizontal_scale, length_pixels)
-        # -- method 1: interp2d (this will be deprecated in the future 1.12 release)
-        func_interp2d = interpolate.interp2d(y, x, height_field_downsampled, kind="cubic")
-        z_upsampled_interp2d = func_interp2d(y_upsampled, x_upsampled)
-        # -- method 2: RectBivariateSpline (alternate to interp2d)
-        func_RectBiVariate = interpolate.RectBivariateSpline(x, y, height_field_downsampled)
-        z_upsampled_RectBivariant = func_RectBiVariate(x_upsampled, y_upsampled)
-        # -- method 3: RegularGridInterpolator (recommended from scipy but slow!)
-        # Ref: https://github.com/scipy/scipy/issues/18010
-        func_RegularGridInterpolator = interpolate.RegularGridInterpolator(
-            (x, y), height_field_downsampled, method="cubic"
-        )
-        xx_upsampled, yy_upsampled = np.meshgrid(x_upsampled, y_upsampled, indexing="ij", sparse=True)
-        z_upsampled_RegularGridInterpolator = func_RegularGridInterpolator((xx_upsampled, yy_upsampled))
-
-        # check if the interpolated height field is the same as the sampled height field
-        np.testing.assert_allclose(z_upsampled_interp2d, z_upsampled_RectBivariant, atol=1e-14)
-        np.testing.assert_allclose(z_upsampled_RectBivariant, z_upsampled_RegularGridInterpolator, atol=1e-14)
-        np.testing.assert_allclose(z_upsampled_RegularGridInterpolator, z_upsampled_interp2d, atol=1e-14)
-
-
-if __name__ == "__main__":
-    run_tests()
+def test_interpolation():
+    """Test scipy interpolation 2D method."""
+    # parameters
+    size = (10.0, 12.0)
+    horizontal_scale = 0.1
+    vertical_scale = 0.005
+    downsampled_scale = 0.2
+    noise_range = (-0.02, 0.1)
+    noise_step = 0.02
+    # switch parameters to discrete units
+    # -- horizontal scale
+    width_pixels = int(size[0] / horizontal_scale)
+    length_pixels = int(size[1] / horizontal_scale)
+    # -- downsampled scale
+    width_downsampled = int(size[0] / downsampled_scale)
+    length_downsampled = int(size[1] / downsampled_scale)
+    # -- height
+    height_min = int(noise_range[0] / vertical_scale)
+    height_max = int(noise_range[1] / vertical_scale)
+    height_step = int(noise_step / vertical_scale)
+
+    # create range of heights possible
+    height_range = np.arange(height_min, height_max + height_step, height_step)
+    # sample heights randomly from the range along a grid
+    height_field_downsampled = np.random.choice(height_range, size=(width_downsampled, length_downsampled))
+    # create interpolation function for the sampled heights
+    x = np.linspace(0, size[0] * horizontal_scale, width_downsampled)
+    y = np.linspace(0, size[1] * horizontal_scale, length_downsampled)
+
+    # interpolate the sampled heights to obtain the height field
+    x_upsampled = np.linspace(0, size[0] * horizontal_scale, width_pixels)
+    y_upsampled = np.linspace(0, size[1] * horizontal_scale, length_pixels)
+    # -- method 1: RegularGridInterpolator (replacing deprecated interp2d)
+    func_RegularGridInterpolator = interpolate.RegularGridInterpolator((x, y), height_field_downsampled, method="cubic")
+    xx_upsampled, yy_upsampled = np.meshgrid(x_upsampled, y_upsampled, indexing="ij", sparse=True)
+    z_upsampled_RegularGridInterpolator = func_RegularGridInterpolator((xx_upsampled, yy_upsampled))
+    # -- method 2: RectBivariateSpline (alternate to interp2d)
+    func_RectBiVariate = interpolate.RectBivariateSpline(x, y, height_field_downsampled)
+    z_upsampled_RectBivariant = func_RectBiVariate(x_upsampled, y_upsampled)
+
+    # check if the interpolated height field is the same as the sampled height field
+    np.testing.assert_allclose(z_upsampled_RegularGridInterpolator, z_upsampled_RectBivariant, atol=1e-14)
+    np.testing.assert_allclose(z_upsampled_RectBivariant, z_upsampled_RegularGridInterpolator, atol=1e-14)
+    np.testing.assert_allclose(z_upsampled_RegularGridInterpolator, z_upsampled_RegularGridInterpolator, atol=1e-14)

source/isaaclab/isaaclab/devices/openxr/test_oxr_device.py → source/isaaclab/test/devices/test_oxr_device.py

@@ -8,7 +8,7 @@
 
 from __future__ import annotations
 
-from isaaclab.app import AppLauncher, run_tests
+from isaaclab.app import AppLauncher
 
 # Can set this to False to see the GUI for debugging.
 HEADLESS = True
@@ -138,7 +138,3 @@ class TestOpenXRDevice(unittest.TestCase):
         device_1.reset()
         device_2.reset()
         env.close()
-
-
-if __name__ == "__main__":
-    run_tests()

source/isaaclab/test/envs/test_action_state_recorder_term.py

@@ -5,11 +5,10 @@
 
 """Launch Isaac Sim Simulator first."""
 
-from isaaclab.app import AppLauncher, run_tests
+from isaaclab.app import AppLauncher
 
 # launch the simulator
-app_launcher = AppLauncher(headless=True)
-simulation_app = app_launcher.app
+simulation_app = AppLauncher(headless=True).app
 
 
 """Rest everything follows."""
@@ -18,11 +17,11 @@ import gymnasium as gym
 import shutil
 import tempfile
 import torch
-import unittest
 import uuid
 
 import carb
 import omni.usd
+import pytest
 
 from isaaclab.envs.mdp.recorders.recorders_cfg import ActionStateRecorderManagerCfg
 
@@ -30,94 +29,88 @@ import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.parse_cfg import parse_env_cfg
 
 
-class TestActionStateRecorderManagerCfg(unittest.TestCase):
-    """Test cases for ActionStateRecorderManagerCfg recorder terms."""
-
-    @classmethod
-    def setUpClass(cls):
-        # this flag is necessary to prevent a bug where the simulation gets stuck randomly when running the
-        # test on many environments.
-        carb_settings_iface = carb.settings.get_settings()
-        carb_settings_iface.set_bool("/physics/cooking/ujitsoCollisionCooking", False)
-
-    def setUp(self):
-        # create a temporary directory to store the test datasets
-        self.temp_dir = tempfile.mkdtemp()
-
-    def tearDown(self):
-        # delete the temporary directory after the test
-        shutil.rmtree(self.temp_dir)
-
-    def test_action_state_reocrder_terms(self):
-        """Check action state recorder terms."""
-        for task_name in ["Isaac-Lift-Cube-Franka-v0"]:
-            for device in ["cuda:0", "cpu"]:
-                for num_envs in [1, 2]:
-                    with self.subTest(task_name=task_name, device=device):
-                        omni.usd.get_context().new_stage()
-
-                        dummy_dataset_filename = f"{uuid.uuid4()}.hdf5"
-
-                        # parse configuration
-                        env_cfg = parse_env_cfg(task_name, device=device, num_envs=num_envs)
-                        # set recorder configurations for this test
-                        env_cfg.recorders: ActionStateRecorderManagerCfg = ActionStateRecorderManagerCfg()
-                        env_cfg.recorders.dataset_export_dir_path = self.temp_dir
-                        env_cfg.recorders.dataset_filename = dummy_dataset_filename
-
-                        # create environment
-                        env = gym.make(task_name, cfg=env_cfg)
-
-                        # reset all environment instances to trigger post-reset recorder callbacks
-                        env.reset()
-                        self.check_initial_state_recorder_term(env)
-
-                        # reset only one environment that is not the first one
-                        env.unwrapped.reset(env_ids=torch.tensor([num_envs - 1], device=env.unwrapped.device))
-                        self.check_initial_state_recorder_term(env)
-
-                        # close the environment
-                        env.close()
-
-    def check_initial_state_recorder_term(self, env):
-        """Check values recorded by the initial state recorder terms.
-
-        Args:
-            env: Environment instance.
-        """
-        current_state = env.unwrapped.scene.get_state(is_relative=True)
-        for env_id in range(env.unwrapped.num_envs):
-            recorded_initial_state = env.unwrapped.recorder_manager.get_episode(env_id).get_initial_state()
-            are_states_equal, output_log = self.compare_states(recorded_initial_state, current_state, env_id)
-            self.assertTrue(are_states_equal, msg=output_log)
-
-    def compare_states(self, compared_state, ground_truth_state, ground_truth_env_id) -> (bool, str):
-        """Compare a state with the given ground_truth.
-
-        Args:
-            compared_state: State to be compared.
-            ground_truth_state: Ground truth state.
-            ground_truth_env_id: Index of the environment in the ground_truth states to be compared.
-
-        Returns:
-            bool: True if states match, False otherwise.
-            str: Error log if states don't match.
-        """
-        for asset_type in ["articulation", "rigid_object"]:
-            for asset_name in ground_truth_state[asset_type].keys():
-                for state_name in ground_truth_state[asset_type][asset_name].keys():
-                    runtime_asset_state = ground_truth_state[asset_type][asset_name][state_name][ground_truth_env_id]
-                    dataset_asset_state = compared_state[asset_type][asset_name][state_name][0]
-                    if len(dataset_asset_state) != len(runtime_asset_state):
-                        return False, f"State shape of {state_name} for asset {asset_name} don't match"
-                    for i in range(len(dataset_asset_state)):
-                        if abs(dataset_asset_state[i] - runtime_asset_state[i]) > 0.01:
-                            return (
-                                False,
-                                f'State ["{asset_type}"]["{asset_name}"]["{state_name}"][{i}] don\'t match\r\n',
-                            )
-        return True, ""
-
-
-if __name__ == "__main__":
-    run_tests()
+@pytest.fixture(scope="session", autouse=True)
+def setup_carb_settings():
+    """Set up carb settings to prevent simulation getting stuck."""
+    carb_settings_iface = carb.settings.get_settings()
+    carb_settings_iface.set_bool("/physics/cooking/ujitsoCollisionCooking", False)
+
+
+@pytest.fixture
+def temp_dir():
+    """Create a temporary directory for test datasets."""
+    temp_dir = tempfile.mkdtemp()
+    yield temp_dir
+    shutil.rmtree(temp_dir)
+
+
+def compare_states(compared_state, ground_truth_state, ground_truth_env_id) -> tuple[bool, str]:
+    """Compare a state with the given ground_truth.
+
+    Args:
+        compared_state: State to be compared.
+        ground_truth_state: Ground truth state.
+        ground_truth_env_id: Index of the environment in the ground_truth states to be compared.
+
+    Returns:
+        bool: True if states match, False otherwise.
+        str: Error log if states don't match.
+    """
+    for asset_type in ["articulation", "rigid_object"]:
+        for asset_name in ground_truth_state[asset_type].keys():
+            for state_name in ground_truth_state[asset_type][asset_name].keys():
+                runtime_asset_state = ground_truth_state[asset_type][asset_name][state_name][ground_truth_env_id]
+                dataset_asset_state = compared_state[asset_type][asset_name][state_name][0]
+                if len(dataset_asset_state) != len(runtime_asset_state):
+                    return False, f"State shape of {state_name} for asset {asset_name} don't match"
+                for i in range(len(dataset_asset_state)):
+                    if abs(dataset_asset_state[i] - runtime_asset_state[i]) > 0.01:
+                        return (
+                            False,
+                            f'State ["{asset_type}"]["{asset_name}"]["{state_name}"][{i}] don\'t match\r\n',
+                        )
+    return True, ""
+
+
+def check_initial_state_recorder_term(env):
+    """Check values recorded by the initial state recorder terms.
+
+    Args:
+        env: Environment instance.
+    """
+    current_state = env.unwrapped.scene.get_state(is_relative=True)
+    for env_id in range(env.unwrapped.num_envs):
+        recorded_initial_state = env.unwrapped.recorder_manager.get_episode(env_id).get_initial_state()
+        are_states_equal, output_log = compare_states(recorded_initial_state, current_state, env_id)
+        assert are_states_equal, output_log
+
+
+@pytest.mark.parametrize("task_name", ["Isaac-Lift-Cube-Franka-v0"])
+@pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.parametrize("num_envs", [1, 2])
+def test_action_state_recorder_terms(task_name, device, num_envs, temp_dir):
+    """Check action state recorder terms."""
+    omni.usd.get_context().new_stage()
+
+    dummy_dataset_filename = f"{uuid.uuid4()}.hdf5"
+
+    # parse configuration
+    env_cfg = parse_env_cfg(task_name, device=device, num_envs=num_envs)
+    # set recorder configurations for this test
+    env_cfg.recorders = ActionStateRecorderManagerCfg()
+    env_cfg.recorders.dataset_export_dir_path = temp_dir
+    env_cfg.recorders.dataset_filename = dummy_dataset_filename
+
+    # create environment
+    env = gym.make(task_name, cfg=env_cfg)
+
+    # reset all environment instances to trigger post-reset recorder callbacks
+    env.reset()
+    check_initial_state_recorder_term(env)
+
+    # reset only one environment that is not the first one
+    env.unwrapped.reset(env_ids=torch.tensor([num_envs - 1], device=env.unwrapped.device))
+    check_initial_state_recorder_term(env)
+
+    # close the environment
+    env.close()

source/isaaclab/test/envs/test_scale_randomization.py

@@ -11,7 +11,7 @@ from __future__ import annotations
 
 """Launch Isaac Sim Simulator first."""
 
-from isaaclab.app import AppLauncher, run_tests
+from isaaclab.app import AppLauncher
 
 # launch omniverse app
 app_launcher = AppLauncher(headless=True, enable_cameras=True)
@@ -355,7 +355,3 @@ class TestScaleRandomization(unittest.TestCase):
         with self.assertRaises(RuntimeError):
             env = ManagerBasedEnv(cfg_failure)
             env.close()
-
-
-if __name__ == "__main__":
-    run_tests()

source/isaaclab/test/envs/test_texture_randomization.py

@@ -9,7 +9,7 @@ This script tests the functionality of texture randomization applied to the cart
 
 """Launch Isaac Sim Simulator first."""
 
-from isaaclab.app import AppLauncher, run_tests
+from isaaclab.app import AppLauncher
 
 # launch omniverse app
 app_launcher = AppLauncher(headless=True, enable_cameras=True)
@@ -199,8 +199,3 @@ class TestTextureRandomization(unittest.TestCase):
         with self.assertRaises(RuntimeError):
             env = ManagerBasedEnv(cfg_failure)
             env.close()
-
-
-if __name__ == "__main__":
-    # run the main function
-    run_tests()