[DO NOT MERGE] Diagnostic kitless run for #8744

.github/workflows/tools-tests.yml

@@ -19,6 +19,8 @@ on:
       # Shared CI action helpers and their co-located tests.
       - ".github/actions/_lib/**"
       - ".github/workflows/tools-tests.yml"
+      # test_ci_marker_jobs.py checks the marker gates in this workflow.
+      - ".github/workflows/build.yaml"
   workflow_dispatch:
 
 concurrency:
@@ -68,7 +70,7 @@ jobs:
         # --noconftest keeps tools/conftest.py out of the session. That file is the CI test
         # orchestrator - its pytest_sessionstart scans source/ and scripts/ and runs the whole
         # suite, so loading it here would ignore the files named below.
-        run: python3 -m pytest tools/test_crash_journal.py tools/test_file_scheduler.py
+        run: python3 -m pytest tools/test_crash_journal.py tools/test_file_scheduler.py tools/test_ci_marker_jobs.py
           .github/actions/_lib/test_registry_credential_fallback.py -v --noconftest
 
       - uses: astral-sh/setup-uv@v6

source/isaaclab/changelog.d/jichuanh-ci-marker-selection.skip

@@ -0,0 +1 @@
+Rejected unregistered CI markers in the test orchestrator.

source/isaaclab/test/cli/test_test_orchestrator_result_handling.py

@@ -14,7 +14,7 @@
 import sys
 import xml.etree.ElementTree as ElementTree
 from pathlib import Path
-from types import ModuleType
+from types import ModuleType, SimpleNamespace
 
 import pytest
 
@@ -718,3 +718,50 @@ def test_external_git_asset_tests_receive_extended_startup_deadline():
 
     assert startup_deadline == orchestrator.test_settings.GIT_ASSET_STARTUP_TIMEOUT
     assert orchestrator._resolve_startup_deadline("test_sample.py", timeout=10000, is_cold_cache_test=False) == 120
+
+
+def _start_marker_session(orchestrator, monkeypatch, ci_marker: str):
+    """Run the orchestrator's session start for ``ci_marker`` and return the exit code it requests."""
+    for name in (
+        "TEST_FILTER_PATTERN",
+        "TEST_EXCLUDE_PATTERN",
+        "TEST_INCLUDE_FILES",
+        "TEST_QUARANTINED_ONLY",
+        "TEST_CUROBO_ONLY",
+        "ISAACSIM_CI_SHORT",
+        "TEST_NODE_IDS",
+        "TEST_NODE_IDS_FILE",
+        "TEST_NODE_IDS_KEY",
+    ):
+        monkeypatch.delenv(name, raising=False)
+    monkeypatch.setenv("CI_MARKER", ci_marker)
+    config = SimpleNamespace(getini=lambda name: ["kitless: runs without Kit", "arm_ci: runs on arm"], option=None)
+    with pytest.raises(pytest.exit.Exception) as exit_info:
+        orchestrator.pytest_sessionstart(SimpleNamespace(config=config))
+    return exit_info.value.returncode
+
+
+@pytest.mark.parametrize("ci_marker", ["kitles", "kitless and not arm_ci"])
+def test_unregistered_ci_marker_fails_before_selection(ci_marker, monkeypatch):
+    """A marker run matches files by name, so an expression or a misspelling must fail instead of passing empty."""
+    orchestrator = _load_orchestrator_module()
+
+    def unexpected_selection(*args, **kwargs):
+        raise AssertionError("test files were selected for an unregistered marker")
+
+    monkeypatch.setattr(orchestrator, "_collect_test_files", unexpected_selection)
+
+    assert _start_marker_session(orchestrator, monkeypatch, ci_marker) == 1
+
+
+def test_registered_ci_marker_without_marked_files_passes_empty(monkeypatch, tmp_path):
+    """A job whose files carry no marker passes with an empty report instead of failing."""
+    orchestrator = _load_orchestrator_module()
+    unmarked = tmp_path / "test_unmarked.py"
+    unmarked.write_text("def test_unmarked():\n    pass\n")
+    monkeypatch.setattr(orchestrator, "_collect_test_files", lambda *args, **kwargs: [str(unmarked)])
+    monkeypatch.setenv("TEST_RESULT_FILE", "marker_report.xml")
+    monkeypatch.chdir(tmp_path)
+
+    assert _start_marker_session(orchestrator, monkeypatch, "kitless") == 0
+    assert (tmp_path / "tests" / "marker_report.xml").is_file()

source/isaaclab_newton/changelog.d/jichuanh-ci-marker-selection.skip

@@ -0,0 +1 @@
+Marked the test files that run without Kit as kitless so a marker run can select them.

source/isaaclab_newton/test/assets/test_cable_object.py

@@ -29,6 +29,8 @@
 
 from isaaclab_contrib.coupling import CouplerEntryCfg, CouplerProxyCfg, CouplerProxyMappingCfg
 
+pytestmark = pytest.mark.kitless
+
 
 @configclass
 class _CableSceneCfg(InteractiveSceneCfg):

source/isaaclab_newton/test/assets/test_joint_coordinates.py

@@ -23,6 +23,8 @@
 from newton.selection import ArticulationView
 from scipy.spatial.transform import Rotation
 
+pytestmark = pytest.mark.kitless
+
 # One revolute, one ball, one revolute -- the layout that hides an off-by-one when the tables are
 # built by walking the model instead of the view's own per-joint counts.
 COORD_COUNTS = [1, 4, 1]

source/isaaclab_newton/test/assets/test_mpm_object.py

@@ -11,6 +11,8 @@
 import pytest
 import torch
 
+pytestmark = pytest.mark.kitless
+
 newton = pytest.importorskip("newton")
 
 from isaaclab_newton.assets.mpm_object import MPMObject, MPMObjectCfg

source/isaaclab_newton/test/cloner/test_clone_xform_math.py

@@ -10,6 +10,8 @@
 import warp as wp
 from isaaclab_newton.cloner.newton_clone_utils import _quat_rotate
 
+pytestmark = pytest.mark.kitless
+
 _TOL = 1e-5
 
 # Hand-picked quaternions (xyzw) that cover identity and the 180-degree cases where a sign

source/isaaclab_newton/test/cloner/test_collision_approximation.py

@@ -12,6 +12,8 @@
 
 from pxr import Sdf, Usd, UsdGeom, UsdPhysics, UsdShade
 
+pytestmark = pytest.mark.kitless
+
 _SOURCE = "/World/Asset"
 
 

source/isaaclab_newton/test/cloner/test_newton_builder_world_hook.py

@@ -23,6 +23,8 @@
 from isaaclab.cloner import make_clone_plan
 from isaaclab.sim import SimulationCfg, SimulationContext, SpawnerCfg, build_simulation_context
 
+pytestmark = pytest.mark.kitless
+
 replicate_module = importlib.import_module("isaaclab_newton.cloner.replicate")
 
 

source/isaaclab_newton/test/cloner/test_rename_builder_labels.py

@@ -11,6 +11,7 @@
 
 import newton
 import numpy as np
+import pytest
 import warp as wp
 from isaaclab_newton.cloner import NewtonReplicateContext
 from isaaclab_newton.cloner import newton_clone_utils as newton_clone_utils_module
@@ -27,6 +28,8 @@
 from isaaclab.sim import SimulationContext, SpawnerCfg
 from isaaclab.sim.schemas import define_deformable_curve_properties
 
+pytestmark = pytest.mark.kitless
+
 
 class TestReplicateBuilderMapping(unittest.TestCase):
     def test_world_prototypes_preserve_repeated_instances_and_default_poses(self):

source/isaaclab_newton/test/cloner/test_visual_shape_import.py

@@ -12,6 +12,8 @@
 
 from pxr import Usd, UsdGeom, UsdPhysics
 
+pytestmark = pytest.mark.kitless
+
 
 @pytest.mark.parametrize("load_visual_shapes", [True, False])
 @pytest.mark.parametrize("dynamic", [True, False])

source/isaaclab_newton/test/controllers/test_newton_controllers.py

@@ -24,6 +24,8 @@
 
 from isaaclab.utils import math as math_utils
 
+pytestmark = pytest.mark.kitless
+
 _NUM_ENVS = 3
 _NUM_JOINTS = 7
 _DEVICE = "cpu"

source/isaaclab_newton/test/controllers/test_newton_ik_solver.py

@@ -7,6 +7,7 @@
 
 import isaaclab_newton.controllers.ik.newton_ik_objectives as objectives_module
 import isaaclab_newton.controllers.ik.newton_ik_solver as ik_solver_module
+import pytest
 import torch
 import warp as wp
 from isaaclab_newton.controllers.ik.newton_ik_objectives import (
@@ -24,6 +25,8 @@
 
 from isaaclab.utils import configclass
 
+pytestmark = pytest.mark.kitless
+
 # Maps the stub body names used across these tests to Newton link indices.
 _LINKS = {"ee": 0, "torso": 1, "custom": 0}
 

source/isaaclab_newton/test/envs/test_events.py

@@ -36,6 +36,8 @@
 from isaaclab.utils import configclass
 from isaaclab.visualizers import VisualizerCfg
 
+pytestmark = pytest.mark.kitless
+
 
 @configclass
 class ActionsCfg:

source/isaaclab_newton/test/physics/test_mjwarp_tendon_control.py

@@ -15,6 +15,8 @@
 )
 from newton.solvers import SolverMuJoCo
 
+pytestmark = pytest.mark.kitless
+
 _TENDON = int(SolverMuJoCo.TrnType.TENDON)
 _JOINT = 0
 

source/isaaclab_newton/test/physics/test_mpm_reset_mask_contract.py

@@ -13,6 +13,8 @@
 from isaaclab_newton.physics import MPMSolverCfg, NewtonMPMManager
 from newton.solvers import SolverImplicitMPM
 
+pytestmark = pytest.mark.kitless
+
 
 @pytest.fixture(scope="module")
 def cpu_mpm_solver_and_state():

source/isaaclab_newton/test/physics/test_newton_manager_abstraction.py

@@ -69,6 +69,8 @@
 from isaaclab.sim import SimulationCfg, SimulationContext, build_simulation_context
 from isaaclab.test.utils import test_devices
 
+pytestmark = pytest.mark.kitless
+
 # ---------------------------------------------------------------------------
 # Lightweight (no sim) parametrisation
 # ---------------------------------------------------------------------------

source/isaaclab_newton/test/physics/test_vbd_core.py

@@ -20,6 +20,8 @@
 from isaaclab.sim import BackendCfg, SimulationContext
 from isaaclab.utils import replace
 
+pytestmark = pytest.mark.kitless
+
 
 # The soft-contact and simulation axes are independent, so each value is covered once.
 @pytest.mark.parametrize(

source/isaaclab_newton/test/renderers/test_segmentation.py

@@ -27,6 +27,8 @@
 from isaaclab.renderers.segmentation_colors import BACKGROUND_ID, UNLABELLED_ID, pack_rgba, random_color_from_id
 from isaaclab.sim.utils.semantics import add_labels
 
+pytestmark = pytest.mark.kitless
+
 
 def _cfg(**overrides):
     """Minimal renderer-cfg stand-in exposing only the fields the mapper reads."""

source/isaaclab_newton/test/renderers/test_visual_material.py

@@ -5,6 +5,7 @@
 
 """Tests for Newton's compiled visual-material writers."""
 
+import pytest
 import torch
 import warp as wp
 from isaaclab_newton.physics import NewtonBackendCfg, NewtonBuilderCfg
@@ -21,6 +22,8 @@
 from isaaclab.renderers.base_renderer import VisualMaterialBatch
 from isaaclab.sim import SimulationContext
 
+pytestmark = pytest.mark.kitless
+
 
 def _srgb(colors: torch.Tensor) -> torch.Tensor:
     return torch.where(colors <= 0.0031308, 12.92 * colors, 1.055 * colors.pow(1.0 / 2.4) - 0.055)

source/isaaclab_newton/test/sensors/test_camera_opencv_distortion_newton.py

@@ -28,7 +28,7 @@
 from isaaclab.utils.configclass import configclass
 from isaaclab.utils.math import create_rotation_matrix_from_view, quat_from_matrix
 
-pytestmark = [pytest.mark.integration, pytest.mark.rendering]
+pytestmark = [pytest.mark.integration, pytest.mark.rendering, pytest.mark.kitless]
 
 SIM_DT = 1.0 / 60.0
 WIDTH, HEIGHT = 640, 480

source/isaaclab_newton/test/sensors/test_contact_sensor.py

@@ -57,6 +57,8 @@
 
 from isaaclab_assets.robots.allegro import ALLEGRO_HAND_CFG
 
+pytestmark = pytest.mark.kitless
+
 ##
 # Scene Configuration
 ##

source/isaaclab_newton/test/sensors/test_contact_sensor_history.py

@@ -9,6 +9,7 @@
 
 import warnings
 
+import pytest
 import torch
 import warp as wp
 from isaaclab_newton.sensors.contact_sensor.contact_sensor_data import ContactSensorData
@@ -17,6 +18,8 @@
     update_contact_sensor_kernel,
 )
 
+pytestmark = pytest.mark.kitless
+
 
 def test_force_matrix_history_rolls_newest_first_and_honors_mask():
     """Test newest-first ordering of every history buffer without advancing masked environments.

source/isaaclab_newton/test/sensors/test_frame_transformer.py

@@ -32,6 +32,8 @@
 ##
 from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # isort:skip
 
+pytestmark = pytest.mark.kitless
+
 
 def quat_from_euler_rpy(roll, pitch, yaw, degrees=False):
     """Converts Euler XYZ to Quaternion (x, y, z, w)."""

source/isaaclab_newton/test/sensors/test_imu.py

@@ -22,6 +22,8 @@
 from isaaclab.terrains import TerrainImporterCfg
 from isaaclab.utils import configclass
 
+pytestmark = pytest.mark.kitless
+
 
 @configclass
 class ImuTestSceneCfg(InteractiveSceneCfg):

source/isaaclab_newton/test/sensors/test_joint_wrench_sensor.py

@@ -36,6 +36,8 @@
 
 from isaaclab_assets.robots.ant import ANT_CFG
 
+pytestmark = pytest.mark.kitless
+
 
 def _make_single_joint_articulation_cfg() -> ArticulationCfg:
     """Single-joint revolute test articulation (root ``CenterPivot`` + arm ``Arm``)."""

source/isaaclab_newton/test/sensors/test_newton_raycast_sensor.py

@@ -40,6 +40,8 @@
 from isaaclab.terrains import TerrainImporterCfg
 from isaaclab.utils import configclass
 
+pytestmark = pytest.mark.kitless
+
 SENSOR_HEIGHT = 2.0
 RAY_OFFSET = 0.2
 RAY_START_HEIGHT = SENSOR_HEIGHT - RAY_OFFSET

source/isaaclab_newton/test/sensors/test_pva.py

@@ -22,6 +22,8 @@
 from isaaclab.terrains import TerrainImporterCfg
 from isaaclab.utils import configclass
 
+pytestmark = pytest.mark.kitless
+
 
 @configclass
 class PvaTestSceneCfg(InteractiveSceneCfg):

source/isaaclab_newton/test/sensors/test_site_injection.py

@@ -13,6 +13,8 @@
 
 from isaaclab.utils.warp.math_ops import transform_to_vec_quat
 
+pytestmark = pytest.mark.kitless
+
 # ---------------------------------------------------------------------------
 # transform_to_vec_quat
 # ---------------------------------------------------------------------------

source/isaaclab_newton/test/sim/test_cable_usd_import.py

@@ -10,6 +10,8 @@
 from isaaclab.sim.spawners.materials import CableMaterialCfg
 from isaaclab.sim.spawners.shapes import CableCfg
 
+pytestmark = pytest.mark.kitless
+
 # Cable joint degrees of freedom, in the order Newton lays them out.
 _SHEAR_X, _SHEAR_Y, _STRETCH, _BEND_X, _BEND_Y, _TWIST = range(6)
 

source/isaaclab_newton/test/sim/test_mpm_spawners.py

@@ -20,7 +20,7 @@
 
 import isaaclab.sim as sim_utils
 
-pytestmark = pytest.mark.unit
+pytestmark = [pytest.mark.unit, pytest.mark.kitless]
 
 
 @pytest.fixture

source/isaaclab_newton/test/sim/test_mpm_visualization.py

@@ -15,6 +15,8 @@
 
 import isaaclab.sim as sim_utils
 
+pytestmark = pytest.mark.kitless
+
 _PRIM_PATHS = ["/World/envs/env_0/Sand/Particles", "/World/envs/env_1/Sand/Particles"]
 """Environment-namespaced points prims, matching the ``{ENV_REGEX_NS}/<asset>/Particles`` paths used by MPMObject."""
 

source/isaaclab_newton/test/sim/test_views_xform_prim_newton.py

@@ -36,6 +36,8 @@
 from isaaclab.sim import SimulationCfg, SimulationContext, build_simulation_context
 from isaaclab.utils import configclass
 
+pytestmark = pytest.mark.kitless
+
 NEWTON_SIM_CFG = SimulationCfg(physics=NewtonCfg(solver_cfg=MJWarpSolverCfg()))
 WORLD_MARKER_POS = (5.0, 3.0, 1.0)
 SITE_PATH = "/World/Robot/SiteFrame"

source/isaaclab_ov/changelog.d/jichuanh-ci-marker-selection.skip

@@ -0,0 +1 @@
+Marked the test files that run without Kit as kitless so a marker run can select them.

source/isaaclab_ov/test/assets/test_articulation.py

@@ -72,7 +72,7 @@
 
 from isaaclab_assets import FRANKA_PANDA_CFG  # noqa: E402
 
-pytestmark = pytest.mark.integration
+pytestmark = [pytest.mark.integration, pytest.mark.kitless]
 
 _FIXTURE = Path(__file__).parent / "data" / "articulation_ordering_branching.usda"
 _STIFFNESS, _DAMPING, _MAX_FORCE = 5.0, 0.5, 100.0