Adds flaky annotation for tests (#596)

# Description

Adds the flaky module to allow for marking some non-deterministic tests
as flaky. This allows us to specify number of retries for specific test
cases and how many passes are needed to determine the test is marked as
pass or fail.


## Type of change

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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`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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docs/licenses/dependencies/flaky-license.txt

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source/isaaclab/setup.py

@@ -44,6 +44,7 @@ INSTALL_REQUIRES = [
     "pytest-mock",
     "junitparser",
     "flatdict==4.0.1",
+    "flaky",
 ]
 
 # Additional dependencies that are only available on Linux platforms

source/isaaclab/test/assets/test_deformable_object.py

@@ -22,6 +22,7 @@ import torch
 import carb
 import isaacsim.core.utils.prims as prim_utils
 import pytest
+from flaky import flaky
 
 import isaaclab.sim as sim_utils
 import isaaclab.utils.math as math_utils
@@ -256,7 +257,7 @@ def test_set_nodal_state(sim, num_cubes):
 @pytest.mark.parametrize("num_cubes", [1, 2])
 @pytest.mark.parametrize("randomize_pos", [True, False])
 @pytest.mark.parametrize("randomize_rot", [True, False])
-@pytest.mark.flaky(reruns=3)
+@flaky(max_runs=3, min_passes=1)
 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()

source/isaaclab/test/sensors/test_contact_sensor.py

@@ -20,6 +20,7 @@ from enum import Enum
 
 import carb
 import pytest
+from flaky import flaky
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import RigidObject, RigidObjectCfg
@@ -232,7 +233,7 @@ def test_cube_contact_time(setup_simulation, disable_contact_processing):
 
 
 @pytest.mark.parametrize("disable_contact_processing", [True, False])
-@pytest.mark.flaky(reruns=3)
+@flaky(max_runs=3, min_passes=1)
 def test_sphere_contact_time(setup_simulation, disable_contact_processing):
     """Checks contact sensor values for contact time and air time for a sphere collision primitive."""
     # check for both contact processing enabled and disabled

source/isaaclab/test/sensors/test_multi_tiled_camera.py

@@ -24,6 +24,7 @@ import isaacsim.core.utils.prims as prim_utils
 import isaacsim.core.utils.stage as stage_utils
 import omni.replicator.core as rep
 import pytest
+from flaky import flaky
 from isaacsim.core.prims import SingleGeometryPrim, SingleRigidPrim
 from pxr import Gf, UsdGeom
 
@@ -394,7 +395,7 @@ def test_frame_offset_multi_tiled_camera(setup_camera):
         del camera
 
 
-@pytest.mark.flaky(reruns=3)
+@flaky(max_runs=3, min_passes=1)
 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_tasks/test/benchmarking/configs.yaml

@@ -31,7 +31,7 @@ fast:
       reward: 45
       episode_length: 900
     upper_thresholds:
-      duration: 500
+      duration: 750
   skrl:Isaac-Cartpole-RGB-Camera-Direct-v0:
     max_iterations: 50
     lower_thresholds:

tools/test_settings.py

@@ -17,8 +17,6 @@ DEFAULT_TIMEOUT = 300
 
 PER_TEST_TIMEOUTS = {
     "test_articulation.py": 500,
-    "test_rigid_object.py": 300,
-    "test_rigid_object_collection.py": 300,
     "test_stage_in_memory.py": 500,
     "test_environments.py": 2000,  # This test runs through all the environments for 100 steps each
     "test_environments_with_stage_in_memory.py": (
@@ -26,12 +24,9 @@ PER_TEST_TIMEOUTS = {
     ),  # Like the above, with stage in memory and with and without fabric cloning
     "test_environment_determinism.py": 500,  # This test runs through many the environments for 100 steps each
     "test_factory_environments.py": 1000,  # This test runs through Factory environments for 100 steps each
-    "test_multi_agent_environments.py": 500,  # This test runs through multi-agent environments for 100 steps each
-    "test_env_rendering_logic.py": 300,
-    "test_multi_tiled_camera.py": 300,
+    "test_multi_agent_environments.py": 800,  # This test runs through multi-agent environments for 100 steps each
     "test_generate_dataset.py": 500,  # This test runs annotation for 10 demos and generation until one succeeds
-    "test_operational_space.py": 300,
-    "test_environments_training.py": 5000,
+    "test_environments_training.py": 6000,
     "test_simulation_render_config.py": 500,
 }
 """A dictionary of tests and their timeouts in seconds.