[Test] Optimize Newton test runtime (#7306)

# Description

Reduces `isaaclab_newton` CI runtime while preserving distinct
behavioral coverage.

- Tests actuator target-mode configuration directly instead of launching
a simulation for pure configuration behavior.
- Preserves singleton and batched coverage at initialization boundaries,
then uses representative batched layouts for downstream behavior.
- Consolidates redundant rigid-object and rigid-object-collection
parameter matrices.
- Keeps the complete contact lifecycle shape matrix while narrowing the
secondary horizontal-collision matrix to representative primitive and
mesh cases.
- Combines contact-sensor metadata checks into one scene.
- Removes simulation-backed print/string smoke tests and replaces
tautological self-comparisons with cross-view behavioral assertions.

## Before and after measurement

Measured with the CI-style per-file test runner on the same workstation,
using a new empty Warp cache for each revision. Both revisions use the
repository-default Warp backward configuration:

| Revision | Cases | Result | Wall time |
|---|---:|---|---:|
| `upstream/develop` (`c4a275975`) | 1,180 | 0 failures, 0 errors | 30m
44.38s |
| This PR (`552b329a8`) | 907 | 0 failures, 0 errors | 21m 41.56s |

This saves **9m 02.82s (29.4%)** in a cold-cache run. Both measurements
executed all 35 Newton test files.

Measurement command:

```bash
TEST_FILTER_PATTERN=isaaclab_newton \
WARP_CACHE_PATH=<new-empty-cache> \
uv run --no-sync python -m pytest tools -q
```

## Type of change

- Test and CI performance improvement (non-breaking)

## Validation

- Full optimized Newton suite: 35 files, 907 cases, 0 failures, 0
errors.
- Full untouched baseline suite: 35 files, 1,180 cases, 0 failures, 0
errors.
- Focused changed suites all pass: articulation, rigid object, rigid
object collection, contact sensor, frame transformer, IMU, joint wrench,
and PVA.
- Ruff and Ruff format hooks pass for all changed Python files.
- `git diff --check` passes.
- `uv run --no-sync isaaclab -f` passes all applicable hooks; the
repository-wide changelog checker reports pre-existing fragment
immutability/missing-fragment issues in unrelated packages. This PR
includes an `isaaclab_newton` `.skip` fragment.

## Checklist

- [x] I have read and followed the contribution guidelines.
- [x] I have run the relevant tests and included the results above.
- [x] I have formatted and linted the changed files.
- [x] I have added the appropriate changelog fragment.

## Screenshots

Not applicable.

Author: StafaH

source/isaaclab_newton/changelog.d/test-optimize-newton-tests.skip

@@ -298,7 +298,7 @@ def test_external_force_buffer(device):
 
 
 @pytest.mark.isaacsim_ci
-@pytest.mark.parametrize("num_cubes", [2, 4])
+@pytest.mark.parametrize("num_cubes", [4])
 @pytest.mark.parametrize("device", test_devices())
 def test_external_force_on_single_body(num_cubes, device):
     """Test application of external force on the base of the object.
@@ -373,7 +373,7 @@ def test_external_force_on_single_body(num_cubes, device):
             assert torch.all(cube_object.data.root_pos_w.torch[1::2, 2] < 1.0)
 
 
-@pytest.mark.parametrize("num_cubes", [2, 4])
+@pytest.mark.parametrize("num_cubes", [4])
 @pytest.mark.parametrize("device", test_devices())
 def test_external_force_on_single_body_at_position(num_cubes, device):
     """Test application of external force on the base of the object at a specific position.
@@ -462,7 +462,7 @@ def test_external_force_on_single_body_at_position(num_cubes, device):
 
 
 @pytest.mark.isaacsim_ci
-@pytest.mark.parametrize("num_cubes", [1, 2])
+@pytest.mark.parametrize("num_cubes", [2])
 @pytest.mark.parametrize("device", test_devices())
 def test_set_rigid_object_state(num_cubes, device):
     """Test setting the state of the rigid object.
@@ -530,7 +530,7 @@ def test_set_rigid_object_state(num_cubes, device):
 
 
 @pytest.mark.isaacsim_ci
-@pytest.mark.parametrize("num_cubes", [1, 2])
+@pytest.mark.parametrize("num_cubes", [2])
 @pytest.mark.parametrize("device", test_devices())
 def test_reset_rigid_object(num_cubes, device):
     """Test resetting the state of the rigid object."""
@@ -573,7 +573,7 @@ def test_reset_rigid_object(num_cubes, device):
 
 
 @pytest.mark.isaacsim_ci
-@pytest.mark.parametrize("num_cubes", [1, 2])
+@pytest.mark.parametrize("num_cubes", [2])
 @pytest.mark.parametrize("device", test_devices())
 def test_rigid_body_set_material_properties(num_cubes, device):
     """Test getting and setting material properties of rigid object via view-level APIs."""
@@ -919,7 +919,7 @@ def test_rigid_body_set_mass(num_cubes, device):
 
 
 @pytest.mark.isaacsim_ci
-@pytest.mark.parametrize("num_cubes", [1, 2])
+@pytest.mark.parametrize("num_cubes", [2])
 @pytest.mark.parametrize("device", test_devices())
 @pytest.mark.parametrize("gravity_enabled", [True, False])
 def test_gravity_vec_w(num_cubes, device, gravity_enabled):
@@ -957,7 +957,7 @@ def test_gravity_vec_w(num_cubes, device, gravity_enabled):
 
 
 @pytest.mark.isaacsim_ci
-@pytest.mark.parametrize("num_cubes", [2, 3])
+@pytest.mark.parametrize("num_cubes", [3])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 def test_gravity_vec_w_tracks_model_gravity(num_cubes, device):
     """Per-env mutations to Newton's ``model.gravity`` reach ``GRAVITY_VEC_W`` and ``projected_gravity_b``.
@@ -999,7 +999,7 @@ def test_gravity_vec_w_tracks_model_gravity(num_cubes, device):
 
 
 @pytest.mark.isaacsim_ci
-@pytest.mark.parametrize("num_cubes", [1, 2])
+@pytest.mark.parametrize("num_cubes", [2])
 @pytest.mark.parametrize("device", test_devices())
 @pytest.mark.parametrize("with_offset", [True, False])
 @flaky(max_runs=3, min_passes=1)
@@ -1058,11 +1058,11 @@ def test_body_root_state_properties(num_cubes, device, with_offset):
             if not with_offset:
                 torch.testing.assert_close(root_link_pose_w, root_com_pose_w)
                 torch.testing.assert_close(root_com_vel_w, root_link_vel_w)
-                torch.testing.assert_close(root_link_pose_w, root_link_pose_w)
+                torch.testing.assert_close(root_link_pose_w, body_link_pose_w.squeeze(-2))
                 torch.testing.assert_close(root_com_vel_w, root_link_vel_w)
                 torch.testing.assert_close(body_link_pose_w, body_com_pose_w)
                 torch.testing.assert_close(body_com_vel_w, body_link_vel_w)
-                torch.testing.assert_close(body_link_pose_w, body_link_pose_w)
+                torch.testing.assert_close(root_com_pose_w, body_com_pose_w.squeeze(-2))
                 torch.testing.assert_close(body_com_vel_w, body_link_vel_w)
             else:
                 # cubes are spinning around center of mass
@@ -1089,9 +1089,8 @@ def test_body_root_state_properties(num_cubes, device, with_offset):
                 torch.testing.assert_close(com_quat_w, body_com_pose_w[..., 3:], **_tol)
                 torch.testing.assert_close(com_quat_w.squeeze(-2), root_com_pose_w[..., 3:], **_tol)
 
-                # orientation of link will match root state will always match
-                torch.testing.assert_close(root_link_pose_w[..., 3:], root_link_pose_w[..., 3:], **_tol)
-                torch.testing.assert_close(body_link_pose_w[..., 3:], body_link_pose_w[..., 3:], **_tol)
+                # root and body link orientations describe the same rigid body
+                torch.testing.assert_close(root_link_pose_w[..., 3:], body_link_pose_w[..., 3:].squeeze(-2), **_tol)
 
                 # lin_vel will not match
                 # center of mass vel will be constant (i.e. spinning around com)
@@ -1105,14 +1104,13 @@ def test_body_root_state_properties(num_cubes, device, with_offset):
                 torch.testing.assert_close(lin_vel_rel_gt, lin_vel_rel_body_gt.squeeze(-2), **_tol)
 
                 # ang_vel will always match
-                torch.testing.assert_close(root_com_vel_w[..., 3:], root_com_vel_w[..., 3:])
                 torch.testing.assert_close(root_com_vel_w[..., 3:], root_link_vel_w[..., 3:])
-                torch.testing.assert_close(body_com_vel_w[..., 3:], body_com_vel_w[..., 3:])
+                torch.testing.assert_close(root_com_vel_w[..., 3:], body_com_vel_w[..., 3:].squeeze(-2))
                 torch.testing.assert_close(body_com_vel_w[..., 3:], body_link_vel_w[..., 3:])
 
 
 @pytest.mark.isaacsim_ci
-@pytest.mark.parametrize("num_cubes", [1, 2])
+@pytest.mark.parametrize("num_cubes", [2])
 @pytest.mark.parametrize("device", test_devices())
 @pytest.mark.parametrize("with_offset", [True, False])
 @pytest.mark.parametrize("state_location", ["com", "link"])
@@ -1199,7 +1197,7 @@ def test_write_root_state(num_cubes, device, with_offset, state_location):
 
 
 @pytest.mark.isaacsim_ci
-@pytest.mark.parametrize("num_cubes", [1, 2])
+@pytest.mark.parametrize("num_cubes", [2])
 @pytest.mark.parametrize("device", test_devices())
 @pytest.mark.parametrize("with_offset", [True])
 @pytest.mark.parametrize("state_location", ["com", "link", "root"])

source/isaaclab_newton/test/assets/test_articulation.py

@@ -147,8 +147,7 @@ def test_initialization_ignores_unrelated_sibling_rigid_objects(device):
         assert object_collection.data.default_body_pose.torch.shape == (num_envs, num_cubes, 7)
 
 
-@pytest.mark.parametrize("num_envs", [1, 2])
-@pytest.mark.parametrize("num_cubes", [1, 3])
+@pytest.mark.parametrize(("num_envs", "num_cubes"), [(1, 1), (2, 3)])
 @pytest.mark.parametrize("device", test_devices())
 def test_initialization(num_envs, num_cubes, device):
     """Test initialization for prim with rigid body API at the provided prim path."""
@@ -282,7 +281,7 @@ def test_initialization_with_kinematic_enabled(num_envs, num_cubes, device):
             torch.testing.assert_close(object_collection.data.body_link_vel_w.torch, default_body_vel)
 
 
-@pytest.mark.parametrize("num_cubes", [1, 2])
+@pytest.mark.parametrize("num_cubes", [2])
 @pytest.mark.parametrize("device", test_devices())
 def test_initialization_with_no_rigid_body(num_cubes, device):
     """Test that initialization fails when no rigid body is found at the provided prim path."""
@@ -352,8 +351,8 @@ def test_external_force_buffer(device):
             object_collection.update(sim.cfg.dt)
 
 
-@pytest.mark.parametrize("num_envs", [1, 2])
-@pytest.mark.parametrize("num_cubes", [1, 4])
+@pytest.mark.parametrize("num_envs", [2])
+@pytest.mark.parametrize("num_cubes", [4])
 @pytest.mark.parametrize("device", test_devices())
 def test_external_force_on_single_body(num_envs, num_cubes, device):
     """Test application of external force on the base of the object."""
@@ -414,8 +413,8 @@ def test_external_force_on_single_body(num_envs, num_cubes, device):
             assert torch.all(object_collection.data.body_link_pos_w.torch[:, 1::2, 2] < 1.0)
 
 
-@pytest.mark.parametrize("num_envs", [1, 2])
-@pytest.mark.parametrize("num_cubes", [1, 4])
+@pytest.mark.parametrize("num_envs", [2])
+@pytest.mark.parametrize("num_cubes", [4])
 @pytest.mark.parametrize("device", test_devices())
 def test_external_force_on_single_body_at_position(num_envs, num_cubes, device):
     """Test application of external force on the base of the object at a specific position.
@@ -497,8 +496,8 @@ def test_external_force_on_single_body_at_position(num_envs, num_cubes, device):
             assert torch.all(object_collection.data.body_link_pos_w.torch[:, 1::2, 2] < 1.0)
 
 
-@pytest.mark.parametrize("num_envs", [1, 3])
-@pytest.mark.parametrize("num_cubes", [1, 2])
+@pytest.mark.parametrize("num_envs", [3])
+@pytest.mark.parametrize("num_cubes", [2])
 @pytest.mark.parametrize("device", test_devices())
 def test_set_object_state(num_envs, num_cubes, device):
     """Test setting the state of the object.
@@ -569,8 +568,8 @@ def test_set_object_state(num_envs, num_cubes, device):
                     object_collection.update(sim.cfg.dt)
 
 
-@pytest.mark.parametrize("num_envs", [1, 3])
-@pytest.mark.parametrize("num_cubes", [1, 2])
+@pytest.mark.parametrize("num_envs", [3])
+@pytest.mark.parametrize("num_cubes", [2])
 @pytest.mark.parametrize("device", test_devices())
 def test_reset_object_collection(num_envs, num_cubes, device):
     """Test resetting the state of the rigid object."""
@@ -604,8 +603,8 @@ def test_reset_object_collection(num_envs, num_cubes, device):
                 assert torch.count_nonzero(object_collection._permanent_wrench_composer.out_torque_b.torch) == 0
 
 
-@pytest.mark.parametrize("num_envs", [1, 3])
-@pytest.mark.parametrize("num_cubes", [1, 2])
+@pytest.mark.parametrize("num_envs", [3])
+@pytest.mark.parametrize("num_cubes", [2])
 @pytest.mark.parametrize("device", test_devices())
 def test_set_material_properties(num_envs, num_cubes, device):
     """Test getting and setting material properties of rigid object collection via view-level APIs."""
@@ -643,8 +642,8 @@ def test_set_material_properties(num_envs, num_cubes, device):
         torch.testing.assert_close(restitution_check, restitution)
 
 
-@pytest.mark.parametrize("num_envs", [1, 3])
-@pytest.mark.parametrize("num_cubes", [1, 2])
+@pytest.mark.parametrize("num_envs", [3])
+@pytest.mark.parametrize("num_cubes", [2])
 @pytest.mark.parametrize("device", test_devices())
 @pytest.mark.parametrize("gravity_enabled", [True, False])
 def test_gravity_vec_w(num_envs, num_cubes, device, gravity_enabled):
@@ -680,8 +679,8 @@ def test_gravity_vec_w(num_envs, num_cubes, device, gravity_enabled):
 
 
 @pytest.mark.isaacsim_ci
-@pytest.mark.parametrize("num_envs", [2, 3])
-@pytest.mark.parametrize("num_cubes", [1, 2])
+@pytest.mark.parametrize("num_envs", [3])
+@pytest.mark.parametrize("num_cubes", [2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 def test_gravity_vec_w_tracks_model_gravity(num_envs, num_cubes, device):
     """Per-env mutations to Newton's ``model.gravity`` reach ``GRAVITY_VEC_W`` and ``projected_gravity_b``.
@@ -720,8 +719,8 @@ def test_gravity_vec_w_tracks_model_gravity(num_envs, num_cubes, device):
         torch.testing.assert_close(object_collection.data.projected_gravity_b.torch, expected, atol=1e-5, rtol=1e-5)
 
 
-@pytest.mark.parametrize("num_envs", [1, 4])
-@pytest.mark.parametrize("num_cubes", [1, 2])
+@pytest.mark.parametrize("num_envs", [4])
+@pytest.mark.parametrize("num_cubes", [2])
 @pytest.mark.parametrize("device", test_devices())
 @pytest.mark.parametrize("with_offset", [True, False])
 def test_object_state_properties(num_envs, num_cubes, device, with_offset):
@@ -794,9 +793,6 @@ def test_object_state_properties(num_envs, num_cubes, device, with_offset):
                 com_quat_w = quat_mul(object_link_pose_w[..., 3:], com_quat_b)
                 torch.testing.assert_close(com_quat_w, object_com_pose_w[..., 3:], **_tol)
 
-                # orientation of link will match object state will always match
-                torch.testing.assert_close(object_link_pose_w[..., 3:], object_link_pose_w[..., 3:])
-
                 # lin_vel will not match
                 # center of mass vel will be constant (i.e. spinning around com)
                 torch.testing.assert_close(
@@ -811,12 +807,11 @@ def test_object_state_properties(num_envs, num_cubes, device, with_offset):
                 torch.testing.assert_close(lin_vel_rel_gt, lin_vel_rel_object_gt, **_tol)
 
                 # ang_vel will always match
-                torch.testing.assert_close(object_com_vel_w[..., 3:], object_com_vel_w[..., 3:])
                 torch.testing.assert_close(object_com_vel_w[..., 3:], object_link_vel_w[..., 3:])
 
 
-@pytest.mark.parametrize("num_envs", [1, 3])
-@pytest.mark.parametrize("num_cubes", [1, 2])
+@pytest.mark.parametrize("num_envs", [3])
+@pytest.mark.parametrize("num_cubes", [2])
 @pytest.mark.parametrize("device", test_devices())
 @pytest.mark.parametrize("with_offset", [True, False])
 @pytest.mark.parametrize("state_location", ["com", "link"])
@@ -893,8 +888,8 @@ def test_write_object_state(num_envs, num_cubes, device, with_offset, state_loca
                 torch.testing.assert_close(rand_state[..., 7:], cube_object.data.body_link_vel_w.torch)
 
 
-@pytest.mark.parametrize("num_envs", [1, 3])
-@pytest.mark.parametrize("num_cubes", [1, 2])
+@pytest.mark.parametrize("num_envs", [3])
+@pytest.mark.parametrize("num_cubes", [2])
 @pytest.mark.parametrize("device", test_devices())
 @pytest.mark.parametrize("with_offset", [True])
 @pytest.mark.parametrize("state_location", ["com", "link", "root"])