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kellyguo11 merged 2 commits into from
May 9, 2026
Merged

Disables articulation tests in Isaac Sim CI #5557

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a0fc4f3
Disables articulation tests in Isaac Sim CI
kellyguo11 May 9, 2026
057d99d
add changelog fragments
kellyguo11 May 9, 2026
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Empty file added source/isaaclab_newton/changelog.d/disable-articulation-sim-ci.skip
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30 changes: 0 additions & 30 deletions source/isaaclab_newton/test/assets/test_articulation.py
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Expand Up @@ -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])
Expand Down Expand Up @@ -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])
Expand Down Expand Up @@ -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"])
Expand Down Expand Up @@ -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])
Expand Down Expand Up @@ -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"])
Expand Down Expand Up @@ -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])
Expand Down Expand Up @@ -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])
Expand Down Expand Up @@ -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])
Expand Down Expand Up @@ -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):
Expand All @@ -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])
Expand Down Expand Up @@ -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"])
Expand Down Expand Up @@ -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"])
Expand Down Expand Up @@ -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"])
Expand Down Expand Up @@ -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"])
Expand Down Expand Up @@ -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"])
Expand Down Expand Up @@ -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"])
Expand Down Expand Up @@ -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])
Expand Down Expand Up @@ -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"])
Expand Down Expand Up @@ -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])
Expand Down Expand Up @@ -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])
Expand Down Expand Up @@ -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])
Expand Down Expand Up @@ -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])
Expand Down Expand Up @@ -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"])
Expand Down Expand Up @@ -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])
Expand Down Expand Up @@ -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])
Expand Down Expand Up @@ -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])
Expand Down Expand Up @@ -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):
Expand All @@ -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):
Expand All @@ -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])
Expand Down Expand Up @@ -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"])
Expand Down
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