[Test] Cover contributed environments in the shared smoke test

.github/workflows/build.yaml

@@ -966,8 +966,7 @@ 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.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/test/contrib/test_cartpole_showcase_environments.py

@@ -26,7 +26,7 @@
 @pytest.mark.parametrize(
     "task_name",
     setup_environment(
-        include_play=False, factory_envs=False, multi_agent=False, teleop_envs=False, cartpole_showcase_envs=True
+        factory_envs=False, multi_agent=False, teleop_envs=False, cartpole_showcase_envs=True
     ),
 )
 @pytest.mark.isaacsim_ci

source/isaaclab_tasks/test/contrib/test_cartpole_showcase_environments_with_stage_in_memory.py

@@ -27,7 +27,7 @@
 @pytest.mark.parametrize(
     "task_name",
     setup_environment(
-        include_play=False, factory_envs=False, multi_agent=False, teleop_envs=False, cartpole_showcase_envs=True
+        factory_envs=False, multi_agent=False, teleop_envs=False, cartpole_showcase_envs=True
     ),
 )
 def test_cartpole_showcase_environments_with_stage_in_memory_and_clone_in_fabric_disabled(task_name, num_envs, device):

source/isaaclab_tasks/test/contrib/test_pickplace_stack_environments.py

@@ -36,7 +36,6 @@
 @pytest.mark.parametrize(
     "task_name",
     setup_environment(
-        include_play=False,
         factory_envs=False,
         multi_agent=False,
         teleop_envs=False,

source/isaaclab_tasks/test/contrib/test_teleop_environments.py

@@ -37,7 +37,7 @@
 
 @pytest.mark.parametrize("num_envs, device", [(2, "cuda"), (1, "cuda")])
 @pytest.mark.parametrize(
-    "task_name", setup_environment(include_play=False, factory_envs=False, multi_agent=False, teleop_envs=True)
+    "task_name", setup_environment(factory_envs=False, multi_agent=False, teleop_envs=True)
 )
 @pytest.mark.isaacsim_ci
 def test_teleop_environments(task_name, num_envs, device):

source/isaaclab_tasks/test/contrib/test_teleop_environments_with_stage_in_memory.py

@@ -38,7 +38,7 @@
 
 @pytest.mark.parametrize("num_envs, device", [(2, "cuda")])
 @pytest.mark.parametrize(
-    "task_name", setup_environment(include_play=False, factory_envs=False, multi_agent=False, teleop_envs=True)
+    "task_name", setup_environment(factory_envs=False, multi_agent=False, teleop_envs=True)
 )
 def test_teleop_environments_with_stage_in_memory_and_clone_in_fabric_disabled(task_name, num_envs, device):
     # skip test if stage in memory is not supported

source/isaaclab_tasks/test/core/test_environments.py

@@ -21,17 +21,35 @@
 # 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"])
 
 @pytest.mark.parametrize("num_envs, device", [(2, "cuda"), (1, "cuda")])
 @pytest.mark.parametrize(
     "task_name",
     setup_environment(
-        include_play=False,
         multi_agent=False,
         tier="core",
     ),
 )
 @pytest.mark.isaacsim_ci
-def test_environments(task_name, num_envs, device):
+def test_environments(task_name, physics_preset_name, num_envs, device):
     # run environments without stage in memory
-    _run_environments(task_name, device, num_envs, create_stage_in_memory=False)
+    _run_environments(
+        task_name, device, num_envs, create_stage_in_memory=False, physics_preset_name=physics_preset_name
+    )
+
+
+@pytest.mark.parametrize("num_envs, device", [(2, "cuda")])
+@pytest.mark.parametrize(
+    "task_name",
+    setup_environment(
+        multi_agent=False,
+        factory_envs=False,
+        cartpole_showcase_envs=False,
+        pickplace_stack_envs=False,
+        teleop_envs=False,
+        tier="contrib",
+    ),
+)
+@pytest.mark.isaacsim_ci
+def test_contrib_environments(task_name, num_envs, device):

source/isaaclab_tasks/test/core/test_environments_with_stage_in_memory.py

@@ -29,7 +29,7 @@
 
 # TODO(mtrepte): re-enable with fabric cloning fix
 # @pytest.mark.parametrize("num_envs, device", [(2, "cuda")])
-# @pytest.mark.parametrize("task_name", setup_environment(include_play=False,factory_envs=False, multi_agent=False))
+# @pytest.mark.parametrize("task_name", setup_environment(factory_envs=False, multi_agent=False))
 # def test_environments_with_stage_in_memory_and_clone_in_fabric_disabled(task_name, num_envs, device):
 # # skip test if stage in memory is not supported
 # if get_isaac_sim_version().major < 5:
@@ -43,7 +43,6 @@
 @pytest.mark.parametrize(
     "task_name",
     setup_environment(
-        include_play=False,
         multi_agent=False,
         tier="core",
     ),

source/isaaclab_tasks/test/core/test_record_video.py

@@ -41,7 +41,7 @@ def setup_video_params():
     return num_envs, device, video_length
 
 
-@pytest.mark.parametrize("task_name", setup_environment(include_play=True, tier="core"))
+@pytest.mark.parametrize("task_name", setup_environment(tier="core"))
 def test_record_video(task_name, setup_video_params):
     """Run random actions agent with internal VideoRecorder capturing from the active visualizer."""
     num_envs, device, video_length = setup_video_params

source/isaaclab_tasks/test/env_test_utils.py

@@ -5,6 +5,7 @@
 
 """Shared test utilities for Isaac Lab environments."""
 
+import gc
 import importlib
 import os
 import sys
@@ -76,49 +77,18 @@ def _task_tier(task_spec) -> str | None:
     return None
 
 
-def _has_physics_preset(raw_cfg, preset_name: str) -> bool:
-    """Check if a raw (unresolved) env config has a named physics preset.
-
-    Must be called with the result of :func:`load_cfg_from_registry`, not
-    :func:`parse_env_cfg`, because the latter resolves all PresetCfg wrappers
-    to their default before returning.
-
-    Args:
-        raw_cfg: Raw env config from :func:`load_cfg_from_registry`.
-        preset_name: Name of the preset to check for (e.g., 'newton_mjwarp').
-
-    Returns:
-        True if ``raw_cfg.sim.physics`` is a PresetCfg with the given preset field.
-    """
-    if isinstance(raw_cfg, dict):
-        return False
-    # If the top-level cfg is itself a PresetCfg wrapper, unwrap to its default.
-    env_cfg = raw_cfg
-    if (
-        hasattr(env_cfg, "__dataclass_fields__")
-        and hasattr(env_cfg, "default")
-        and not hasattr(type(env_cfg), "class_type")
-    ):
-        env_cfg = env_cfg.default
-    physics = getattr(getattr(env_cfg, "sim", None), "physics", None)
-    return physics is not None and hasattr(physics, preset_name)
-
-
 def setup_environment(
-    include_play: bool = False,
     factory_envs: bool | None = None,
     multi_agent: bool | None = None,
     teleop_envs: bool | None = None,
     cartpole_showcase_envs: bool | None = None,
     pickplace_stack_envs: bool | None = None,
-    newton_mjwarp_envs: bool | None = None,
     tier: str | None = None,
 ) -> list[str]:
     """
     Acquire all registered Isaac environment task IDs with optional filters.
 
     Args:
-        include_play: If True, include environments ending in 'Play-v0'.
         factory_envs:
             - True: include only Factory environments
             - False: exclude Factory environments
@@ -139,10 +109,6 @@ def setup_environment(
             - True: include only PickPlace/Stack environments
             - False: exclude PickPlace/Stack environments
             - None: include all environments regardless of pick-place/stack type
-        newton_mjwarp_envs:
-            - True: include only environments that have an MJWarp physics preset.
-            - False: exclude environments that have an MJWarp physics preset.
-            - None: include all environments regardless of MJWarp preset availability.
         tier:
             - "core": include only core environments (registered under ``isaaclab_tasks.core``).
             - "contrib": include only contributed environments (registered under ``isaaclab_tasks.contrib``).
@@ -161,10 +127,6 @@ def setup_environment(
         if "Isaac" not in task_spec.id:
             continue
 
-        # filter Play environments, if needed
-        if not include_play and task_spec.id.endswith("Play-v0"):
-            continue
-
         # apply core/contrib tier filter
         if tier is not None and _task_tier(task_spec) != tier:
             continue
@@ -211,17 +173,6 @@ def setup_environment(
                 continue
         # if None: no filter
 
-        # apply MJWarp preset filter
-        if newton_mjwarp_envs is not None:
-            # Use load_cfg_from_registry (not parse_env_cfg) so that the PresetCfg
-            # wrapper on sim.physics is not yet resolved to its default.
-            raw_cfg = load_cfg_from_registry(task_spec.id, "env_cfg_entry_point")
-            has_newton_mjwarp = _has_physics_preset(raw_cfg, "newton_mjwarp")
-            if (newton_mjwarp_envs is True and not has_newton_mjwarp) or (
-                newton_mjwarp_envs is False and has_newton_mjwarp
-            ):
-                continue
-        # if None: no filter
 
         registered_tasks.append(task_spec.id)
 
@@ -521,6 +472,11 @@ def _check_random_actions(
         if env is not None:
             env.close()
 
+        # Drop unreachable environment objects while the device is still alive. Warp arrays
+        # free device memory from a finalizer, so collect them before the simulation teardown
+        # destroys their streams.
+        gc.collect()
+
         # Clear the simulation context singleton (also closes the USD context stage)
         SimulationContext.clear_instance()