Restrict core smoke tests to supported backends

Author: StafaH

source/isaaclab_tasks/test/core/test_environments.py

@@ -16,21 +16,45 @@
 
 import pytest
 
+from isaaclab.physics import PhysicsCfg
+
 import isaaclab_tasks  # noqa: F401
+from isaaclab_tasks.utils.hydra import collect_presets
+from isaaclab_tasks.utils.parse_cfg import load_cfg_from_registry
 
 # Local imports should be imported last
 from env_test_utils import _run_environments, setup_environment  # isort: skip
 
 
-@pytest.mark.parametrize("physics_preset_name", ["newton_mjwarp", "physx", "isaacsim_physx"])
+_PHYSICS_PRESET_NAMES = ("newton_mjwarp", "physx", "isaacsim_physx")
+
+
+def _core_physics_params() -> list:
+    """Return core task/backend pairs for explicitly supported physics presets."""
+    params = []
+    for task_param in setup_environment(multi_agent=False, tier="core"):
+        task_name = getattr(task_param, "values", (task_param,))[0]
+        marks = getattr(task_param, "marks", ())
+        env_cfg = load_cfg_from_registry(task_name, "env_cfg_entry_point")
+        physics_preset_groups = collect_presets(env_cfg).values()
+        for physics_preset_name in _PHYSICS_PRESET_NAMES:
+            if any(
+                physics_preset_name in preset_group and isinstance(preset_group[physics_preset_name], PhysicsCfg)
+                for preset_group in physics_preset_groups
+            ):
+                params.append(
+                    pytest.param(
+                        task_name,
+                        physics_preset_name,
+                        id=f"{task_name}-{physics_preset_name}",
+                        marks=marks,
+                    )
+                )
+    return params
+
+
+@pytest.mark.parametrize("task_name, physics_preset_name", _core_physics_params())
 @pytest.mark.parametrize("num_envs, device", [(2, "cuda"), (1, "cuda")])
-@pytest.mark.parametrize(
-    "task_name",
-    setup_environment(
-        multi_agent=False,
-        tier="core",
-    ),
-)
 @pytest.mark.isaacsim_ci
 def test_environments(task_name, physics_preset_name, num_envs, device):
     # run environments without stage in memory