diff --git a/source/isaaclab_newton/changelog.d/disable-articulation-sim-ci.skip b/source/isaaclab_newton/changelog.d/disable-articulation-sim-ci.skip new file mode 100644 index 000000000000..e69de29bb2d1 diff --git a/source/isaaclab_newton/test/assets/test_articulation.py b/source/isaaclab_newton/test/assets/test_articulation.py index fdb335291fa5..cd0f2dcb03b9 100644 --- a/source/isaaclab_newton/test/assets/test_articulation.py +++ b/source/isaaclab_newton/test/assets/test_articulation.py @@ -379,7 +379,6 @@ def sim(request): yield sim -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("add_ground_plane", [True]) @@ -429,7 +428,6 @@ def test_initialization_floating_base_non_root(sim, num_articulations, device, a articulation.update(sim.cfg.dt) -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("add_ground_plane", [True]) @@ -480,7 +478,6 @@ def test_initialization_floating_base(sim, num_articulations, device, add_ground articulation.update(sim.cfg.dt) -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("articulation_type", ["panda"]) @@ -538,7 +535,6 @@ def test_initialization_fixed_base(sim, num_articulations, device, articulation_ torch.testing.assert_close(articulation.data.root_com_vel_w.torch, default_root_vel) -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("add_ground_plane", [True]) @@ -597,7 +593,6 @@ def test_initialization_fixed_base_single_joint(sim, num_articulations, device, torch.testing.assert_close(articulation.data.root_com_vel_w.torch, default_root_vel) -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("articulation_type", ["shadow_hand"]) @@ -647,7 +642,6 @@ def test_initialization_hand_with_tendons(sim, num_articulations, device, articu articulation.update(sim.cfg.dt) -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("add_ground_plane", [True]) @@ -702,7 +696,6 @@ def test_initialization_floating_base_made_fixed_base( torch.testing.assert_close(articulation.data.root_com_vel_w.torch, default_root_vel) -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("add_ground_plane", [True]) @@ -749,7 +742,6 @@ def test_initialization_fixed_base_made_floating_base( articulation.update(sim.cfg.dt) -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("add_ground_plane", [True]) @@ -782,7 +774,6 @@ def test_out_of_range_default_joint_pos(sim, num_articulations, device, add_grou sim.reset() -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("articulation_type", ["panda"]) def test_out_of_range_default_joint_vel(sim, device, articulation_type): @@ -807,7 +798,6 @@ def test_out_of_range_default_joint_vel(sim, device, articulation_type): sim.reset() -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("add_ground_plane", [True]) @@ -918,7 +908,6 @@ def __init__(self, art): assert torch.all(out) -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("articulation_type", ["anymal"]) @@ -1004,7 +993,6 @@ def test_external_force_buffer(sim, num_articulations, device, articulation_type articulation.update(sim.cfg.dt) -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("articulation_type", ["anymal"]) @@ -1063,7 +1051,6 @@ def test_external_force_on_single_body(sim, num_articulations, device, articulat assert articulation.data.root_pos_w.torch[i, 2].item() < 0.2 -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("articulation_type", ["anymal"]) @@ -1159,7 +1146,6 @@ def test_external_force_on_single_body_at_position(sim, num_articulations, devic assert articulation.data.root_pos_w.torch[i, 2].item() < 0.2 -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("articulation_type", ["anymal"]) @@ -1220,7 +1206,6 @@ def test_external_force_on_multiple_bodies(sim, num_articulations, device, artic assert articulation.data.root_ang_vel_w.torch[i, 2].item() > 0.1 -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("articulation_type", ["anymal"]) @@ -1315,7 +1300,6 @@ def test_external_force_on_multiple_bodies_at_position(sim, num_articulations, d assert torch.abs(articulation.data.root_ang_vel_w.torch[i, 2]).item() > 0.1 -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("articulation_type", ["humanoid"]) @@ -1378,7 +1362,6 @@ def test_loading_gains_from_usd(sim, num_articulations, device, articulation_typ torch.testing.assert_close(articulation.actuators["body"].damping, expected_damping) -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("add_ground_plane", [True]) @@ -1414,7 +1397,6 @@ def test_setting_gains_from_cfg(sim, num_articulations, device, add_ground_plane torch.testing.assert_close(articulation.actuators["body"].damping, expected_damping) -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("articulation_type", ["humanoid"]) @@ -1448,7 +1430,6 @@ def test_setting_gains_from_cfg_dict(sim, num_articulations, device, articulatio torch.testing.assert_close(articulation.actuators["body"].damping, expected_damping) -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("vel_limit_sim", [1e5, None]) @@ -1521,7 +1502,6 @@ def test_setting_velocity_limit_implicit( torch.testing.assert_close(newton_vel_limit, expected_velocity_limit) -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("vel_limit_sim", [1e5, None]) @@ -1578,7 +1558,6 @@ def test_setting_velocity_limit_explicit(sim, num_articulations, device, vel_lim torch.testing.assert_close(newton_vel_limit, expected_vel_limit) -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("effort_limit_sim", [1e5, None]) @@ -1636,7 +1615,6 @@ def test_setting_effort_limit_implicit( torch.testing.assert_close(newton_effort_limit, expected_effort_limit) -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("effort_limit_sim", [1e5, None]) @@ -1703,7 +1681,6 @@ def test_setting_effort_limit_explicit( torch.testing.assert_close(newton_effort_limit, expected_effort_limit) -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("articulation_type", ["humanoid"]) @@ -1748,7 +1725,6 @@ def test_reset(sim, num_articulations, device, articulation_type): assert torch.count_nonzero(articulation._permanent_wrench_composer.out_torque_b.torch) == num_bodies * 3 -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("add_ground_plane", [True]) @@ -1789,7 +1765,6 @@ def test_apply_joint_command(sim, num_articulations, device, add_ground_plane, a assert not torch.allclose(articulation.data.joint_pos.torch, joint_pos) -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("with_offset", [True, False]) @@ -1915,7 +1890,6 @@ def test_body_root_state(sim, num_articulations, device, with_offset, articulati torch.testing.assert_close(body_com_vel_w, body_link_vel_w) -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("with_offset", [True, False]) @@ -2006,7 +1980,6 @@ def test_write_root_state( torch.testing.assert_close(rand_state[..., 7:], articulation.data.root_link_vel_w.torch) -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("articulation_type", ["humanoid"]) def test_setting_articulation_root_prim_path(sim, device, articulation_type): @@ -2026,7 +1999,6 @@ def test_setting_articulation_root_prim_path(sim, device, articulation_type): assert articulation._is_initialized -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("articulation_type", ["humanoid"]) def test_setting_invalid_articulation_root_prim_path(sim, device, articulation_type): @@ -2045,7 +2017,6 @@ def test_setting_invalid_articulation_root_prim_path(sim, device, articulation_t sim.reset() -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("gravity_enabled", [False]) @@ -2357,7 +2328,6 @@ def _patched_simulate(cls): ) -@pytest.mark.isaacsim_ci @pytest.mark.parametrize("add_ground_plane", [True]) @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) diff --git a/source/isaaclab_physx/changelog.d/disable-articulation-sim-ci.skip b/source/isaaclab_physx/changelog.d/disable-articulation-sim-ci.skip new file mode 100644 index 000000000000..e69de29bb2d1 diff --git a/source/isaaclab_physx/test/assets/test_articulation.py b/source/isaaclab_physx/test/assets/test_articulation.py index bd015562c4df..227c091a1652 100644 --- a/source/isaaclab_physx/test/assets/test_articulation.py +++ b/source/isaaclab_physx/test/assets/test_articulation.py @@ -204,7 +204,6 @@ 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. @@ -261,7 +260,6 @@ 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. @@ -318,7 +316,6 @@ 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. @@ -384,7 +381,6 @@ 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. @@ -449,7 +445,6 @@ 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. @@ -504,7 +499,6 @@ 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. @@ -565,7 +559,6 @@ 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. @@ -618,7 +611,6 @@ 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. @@ -648,7 +640,6 @@ 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. @@ -674,7 +665,6 @@ 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. @@ -782,7 +772,6 @@ def __init__(self, art): @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. @@ -867,7 +856,6 @@ 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. @@ -925,7 +913,6 @@ 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. @@ -1020,7 +1007,6 @@ 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. @@ -1080,7 +1066,6 @@ 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. @@ -1174,7 +1159,6 @@ 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. @@ -1237,7 +1221,6 @@ 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. @@ -1271,7 +1254,6 @@ 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. @@ -1307,7 +1289,6 @@ 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. @@ -1374,7 +1355,6 @@ 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( @@ -1428,7 +1408,6 @@ 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, 80.0, None]) -@pytest.mark.isaacsim_ci def test_setting_effort_limit_implicit(sim, num_articulations, device, effort_limit_sim, effort_limit): """Test setting of effort limit for implicit actuators. @@ -1481,7 +1460,6 @@ 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", [80.0, 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. @@ -1541,7 +1519,6 @@ 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") @@ -1586,7 +1563,6 @@ 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") @@ -1626,7 +1602,6 @@ 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. @@ -1752,7 +1727,6 @@ 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. @@ -1831,7 +1805,6 @@ def test_write_root_state(sim, num_articulations, device, with_offset, state_loc @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 @@ -1850,7 +1823,6 @@ 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 @@ -1870,7 +1842,6 @@ 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. @@ -2121,7 +2092,6 @@ def test_write_joint_frictions_to_sim(sim, num_articulations, device, add_ground @pytest.mark.parametrize("num_articulations", [1, 2]) @pytest.mark.parametrize("device", ["cuda:0", "cpu"]) @pytest.mark.parametrize("articulation_type", ["panda"]) -@pytest.mark.isaacsim_ci def test_set_material_properties(sim, num_articulations, device, add_ground_plane, articulation_type): """Test getting and setting material properties (friction/restitution) of articulation shapes.""" articulation_cfg = generate_articulation_cfg(articulation_type=articulation_type)