[Test] Consolidate environment smoke tests (#7089)

## Summary

- Split core environment smoke coverage into explicit Isaac Sim PhysX,
OV PhysX, and Newton MJWarp test files.
- Select only tasks that explicitly provide the requested physics
preset.
- Consolidate contributor environment smoke coverage into one
default-backend test with `num_envs=2`.
- Remove duplicate contributor and stage-in-memory environment smoke
suites.

## Validation

- `uv run python -m compileall -q
source/isaaclab_tasks/test/env_test_utils.py
source/isaaclab_tasks/test/core
source/isaaclab_tasks/test/contrib/test_contrib_environments.py`
- `uv run isaaclab -f`
- Verified the three backend files distribute one per existing task-test
shard.

Author: StafaH

.github/workflows/build.yaml

@@ -723,8 +723,8 @@ jobs:
           exit 1
         fi
 
-  test-skillgen:
-    name: test-skillgen
+  test-contrib-environments:
+    name: test-contrib-environments
     runs-on: [self-hosted, gpu]
     timeout-minutes: 120
     continue-on-error: true
@@ -744,8 +744,8 @@ jobs:
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         dockerfile-path: docker/Dockerfile.curobo
         cache-tag: cache-curobo
-        include-files: "test_generate_dataset_skillgen.py,test_environments_skillgen.py,test_environments_automate.py"
-        container-name: isaac-lab-skillgen-test
+        include-files: "test_generate_dataset_skillgen.py,test_contrib_environments.py"
+        container-name: isaac-lab-contrib-environments-test
 
   test-record-video:
     name: "record-video"
@@ -941,8 +941,9 @@ jobs:
         # (dexterous, many contacts). Deformable/MPM kernels are not covered;
         # widen if a test job reports large cache growth.
         include-files: >-
-          test_environments.py,
-          test_environments_newton.py
+          test_environments_isaacsim_physx.py,
+          test_environments_newton.py,
+          test_environments_ovphysx.py
         # No Soft/Cloth: the deformable envs depend on optional extras the CI
         # image does not install (Soft needs pytetwild), so they only ever fail.
         test-k-expr: "Cartpole or Drawer or AnymalD or Handover"

source/isaaclab_tasks/changelog.d/mh-consolidate-environment-tests.skip

@@ -14,6 +14,9 @@
 import sys
 
 import pytest
+import warp as wp
+
+wp.config.enable_backward = False
 
 sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
 

source/isaaclab_tasks/test/conftest.py

@@ -0,0 +1,64 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Launch Isaac Sim Simulator first."""
+
+import sys
+
+# Import pinocchio before AppLauncher so Isaac Lab's dependency wins over Isaac Sim's bundled copy.
+if sys.platform != "win32":
+    import pinocchio  # noqa: F401
+
+from isaaclab.app import AppLauncher
+
+app_launcher = AppLauncher(headless=True, enable_cameras=True)
+simulation_app = app_launcher.app
+
+
+"""Rest everything follows."""
+
+import pytest
+
+import isaaclab_tasks  # noqa: F401
+
+# Local imports should be imported last
+from env_test_utils import _run_environments, setup_environment  # isort: skip
+
+
+_SKIPPED_TASKS = {
+    "IsaacContrib-Franka-Pour": "Requires an external reset-dataset artifact.",
+    "IsaacContrib-AutoMate-Assembly-Direct": "Requires CUDA support outside the standard environment test runner.",
+    "IsaacContrib-AutoMate-Disassembly-Direct": "Requires CUDA support outside the standard environment test runner.",
+}
+_SKIPPED_TASK_SUBSTRINGS = {
+    "RmpFlow": "Uses SingleArticulation, which requires an update.",
+    "Skillgen": "Requires cuRobo-specific coverage.",
+    "Suction": "Requires CPU simulation.",
+}
+
+
+def _skip_reason(task_name: str) -> str | None:
+    """Return the documented reason for skipping a contributed environment."""
+    if task_name in _SKIPPED_TASKS:
+        return _SKIPPED_TASKS[task_name]
+    return next((reason for substring, reason in _SKIPPED_TASK_SUBSTRINGS.items() if substring in task_name), None)
+
+
+def _contrib_environment_params() -> list:
+    """Return each contributed environment with its documented test marks."""
+    params = []
+    for task_param in setup_environment(multi_agent=False, tier="contrib"):
+        task_name = getattr(task_param, "values", (task_param,))[0]
+        marks = getattr(task_param, "marks", ())
+        skip_reason = _skip_reason(task_name)
+        if skip_reason is not None:
+            marks = (*marks, pytest.mark.skip(reason=skip_reason))
+        params.append(pytest.param(task_name, id=task_name, marks=marks))
+    return params
+
+
+@pytest.mark.parametrize("task_name", _contrib_environment_params())
+def test_contrib_environments(task_name):
+    _run_environments(task_name, device="cuda", num_envs=2)