skip some tests on windows

Author: kellyguo11

source/isaaclab/test/controllers/test_local_frame_task.py

@@ -8,6 +8,11 @@
 # pinocchio is required by the Pink IK controller
 import sys
 
+import pytest
+
+# Skip all tests in this module on Windows - MUST be before any other imports
+pytestmark = pytest.mark.skipif(sys.platform == "win32", reason="Test not supported on Windows")
+
 if sys.platform != "win32":
     import pinocchio  # noqa: F401
 
@@ -19,14 +24,13 @@
 import numpy as np
 from pathlib import Path
 
-import pinocchio as pin
 import pytest
 
-from isaaclab.controllers.pink_ik.local_frame_task import LocalFrameTask
-from isaaclab.controllers.pink_ik.pink_kinematics_configuration import PinkKinematicsConfiguration
+if sys.platform != "win32":
+    import pinocchio as pin
 
-# Skip all tests in this module on Windows
-pytestmark = pytest.mark.skipif(sys.platform == "win32", reason="Test not supported on Windows")
+    from isaaclab.controllers.pink_ik.local_frame_task import LocalFrameTask
+    from isaaclab.controllers.pink_ik.pink_kinematics_configuration import PinkKinematicsConfiguration
 
 # class TestLocalFrameTask:
 #     """Test suite for LocalFrameTask class."""

source/isaaclab/test/controllers/test_null_space_posture_task.py

@@ -7,12 +7,14 @@
 # pinocchio is required by the Pink IK controller
 import sys
 
+import pytest
+
+# Skip all tests in this module on Windows - MUST be before any other imports
+pytestmark = pytest.mark.skipif(sys.platform == "win32", reason="Test not supported on Windows")
+
 if sys.platform != "win32":
     import pinocchio  # noqa: F401
     import pinocchio as pin  # noqa: F401
-else:
-    import pinocchio  # noqa: F401
-    import pinocchio as pin  # noqa: F401
 
 from isaaclab.app import AppLauncher
 
@@ -24,14 +26,13 @@
 import numpy as np
 
 import pytest
-from pink.configuration import Configuration
-from pink.tasks import FrameTask
-from pinocchio.robot_wrapper import RobotWrapper
 
-from isaaclab.controllers.pink_ik.null_space_posture_task import NullSpacePostureTask
+if sys.platform != "win32":
+    from pink.configuration import Configuration
+    from pink.tasks import FrameTask
+    from pinocchio.robot_wrapper import RobotWrapper
 
-# Skip all tests in this module on Windows
-pytestmark = pytest.mark.skipif(sys.platform == "win32", reason="Test not supported on Windows")
+    from isaaclab.controllers.pink_ik.null_space_posture_task import NullSpacePostureTask
 
 
 class TestNullSpacePostureTaskSimplifiedRobot:

source/isaaclab/test/controllers/test_pink_ik.py

@@ -8,6 +8,11 @@
 # pinocchio is required by the Pink IK controller
 import sys
 
+import pytest
+
+# Skip all tests in this module on Windows - MUST be before any other imports
+pytestmark = pytest.mark.skipif(sys.platform == "win32", reason="Test not supported on Windows")
+
 if sys.platform != "win32":
     import pinocchio  # noqa: F401
 
@@ -28,18 +33,18 @@
 
 import omni.usd
 import pytest
-from pink.configuration import Configuration
-from pink.tasks import FrameTask
 
 from isaaclab.utils.math import axis_angle_from_quat, matrix_from_quat, quat_from_matrix, quat_inv
 
 import isaaclab_tasks  # noqa: F401
-import isaaclab_tasks.manager_based.locomanipulation.pick_place  # noqa: F401
-import isaaclab_tasks.manager_based.manipulation.pick_place  # noqa: F401
 from isaaclab_tasks.utils.parse_cfg import parse_env_cfg
 
-# Skip all tests in this module on Windows
-pytestmark = pytest.mark.skipif(sys.platform == "win32", reason="Test not supported on Windows")
+if sys.platform != "win32":
+    from pink.configuration import Configuration
+    from pink.tasks import FrameTask
+
+    import isaaclab_tasks.manager_based.locomanipulation.pick_place  # noqa: F401
+    import isaaclab_tasks.manager_based.manipulation.pick_place  # noqa: F401
 
 
 def load_test_config(env_name):

source/isaaclab/test/controllers/test_pink_ik_components.py

@@ -8,6 +8,11 @@
 # pinocchio is required by the Pink IK controller
 import sys
 
+import pytest
+
+# Skip all tests in this module on Windows - MUST be before any other imports
+pytestmark = pytest.mark.skipif(sys.platform == "win32", reason="Test not supported on Windows")
+
 if sys.platform != "win32":
     import pinocchio  # noqa: F401
 
@@ -19,14 +24,13 @@
 import numpy as np
 from pathlib import Path
 
-import pinocchio as pin
 import pytest
-from pink.exceptions import FrameNotFound
 
-from isaaclab.controllers.pink_ik.pink_kinematics_configuration import PinkKinematicsConfiguration
+if sys.platform != "win32":
+    import pinocchio as pin
+    from pink.exceptions import FrameNotFound
 
-# Skip all tests in this module on Windows
-pytestmark = pytest.mark.skipif(sys.platform == "win32", reason="Test not supported on Windows")
+    from isaaclab.controllers.pink_ik.pink_kinematics_configuration import PinkKinematicsConfiguration
 
 
 class TestPinkKinematicsConfiguration:

source/isaaclab/test/sim/test_urdf_converter.py

@@ -5,6 +5,8 @@
 
 """Launch Isaac Sim Simulator first."""
 
+import sys
+
 from isaaclab.app import AppLauncher
 
 # launch omniverse app
@@ -71,6 +73,7 @@ def test_no_change(sim_config):
 
 
 @pytest.mark.isaacsim_ci
+@pytest.mark.skipif(sys.platform == "win32", reason="Test hangs on Windows due to file locking issues")
 def test_config_change(sim_config):
     """Call conversion twice but change the config in the second call. This should generate a new USD file."""
     sim, config = sim_config
@@ -102,6 +105,7 @@ def test_create_prim_from_usd(sim_config):
 
 
 @pytest.mark.isaacsim_ci
+@pytest.mark.skipif(sys.platform == "win32", reason="Test hangs on Windows due to file locking issues")
 def test_config_drive_type(sim_config):
     """Change the drive mechanism of the robot to be position."""
     sim, config = sim_config

source/isaaclab_mimic/test/test_curobo_planner_cube_stack.py

@@ -15,7 +15,7 @@
 
 import pytest
 
-# Skip all tests in this module on Windows
+# Skip all tests in this module on Windows - MUST be before AppLauncher
 pytestmark = pytest.mark.skipif(sys.platform == "win32", reason="Test not supported on Windows")
 
 SEED: int = 42
@@ -31,14 +31,17 @@
 import torch
 from collections.abc import Generator
 
+import pytest
+
 import isaaclab.utils.math as math_utils
 from isaaclab.assets import Articulation, RigidObject
 from isaaclab.envs.manager_based_env import ManagerBasedEnv
 from isaaclab.markers import FRAME_MARKER_CFG, VisualizationMarkers
 
-from isaaclab_mimic.envs.franka_stack_ik_rel_mimic_env_cfg import FrankaCubeStackIKRelMimicEnvCfg
-from isaaclab_mimic.motion_planners.curobo.curobo_planner import CuroboPlanner
-from isaaclab_mimic.motion_planners.curobo.curobo_planner_cfg import CuroboPlannerCfg
+if sys.platform != "win32":
+    from isaaclab_mimic.envs.franka_stack_ik_rel_mimic_env_cfg import FrankaCubeStackIKRelMimicEnvCfg
+    from isaaclab_mimic.motion_planners.curobo.curobo_planner import CuroboPlanner
+    from isaaclab_mimic.motion_planners.curobo.curobo_planner_cfg import CuroboPlannerCfg
 
 GRIPPER_OPEN_CMD: float = 1.0
 GRIPPER_CLOSE_CMD: float = -1.0

source/isaaclab_mimic/test/test_curobo_planner_franka.py

@@ -10,7 +10,7 @@
 
 import pytest
 
-# Skip all tests in this module on Windows
+# Skip all tests in this module on Windows - MUST be before AppLauncher
 pytestmark = pytest.mark.skipif(sys.platform == "win32", reason="Test not supported on Windows")
 
 SEED: int = 42
@@ -25,6 +25,8 @@
 import gymnasium as gym
 import torch
 
+import pytest
+
 import isaaclab.utils.assets as _al_assets
 import isaaclab.utils.math as math_utils
 from isaaclab.assets import Articulation, RigidObjectCfg
@@ -35,10 +37,13 @@
 
 ISAAC_NUCLEUS_DIR: str = getattr(_al_assets, "ISAAC_NUCLEUS_DIR", "/Isaac")
 
-from isaaclab_mimic.motion_planners.curobo.curobo_planner import CuroboPlanner
-from isaaclab_mimic.motion_planners.curobo.curobo_planner_cfg import CuroboPlannerCfg
+if sys.platform != "win32":
+    from isaaclab_mimic.motion_planners.curobo.curobo_planner import CuroboPlanner
+    from isaaclab_mimic.motion_planners.curobo.curobo_planner_cfg import CuroboPlannerCfg
 
-from isaaclab_tasks.manager_based.manipulation.stack.config.franka.stack_joint_pos_env_cfg import FrankaCubeStackEnvCfg
+    from isaaclab_tasks.manager_based.manipulation.stack.config.franka.stack_joint_pos_env_cfg import (
+        FrankaCubeStackEnvCfg,
+    )
 
 # Predefined EE goals for the test
 # Each entry is a tuple of: (goal specification, goal ID)

source/isaaclab_mimic/test/test_generate_dataset.py

@@ -5,21 +5,21 @@
 
 """Test dataset generation for Isaac Lab Mimic workflow."""
 
-from isaaclab.app import AppLauncher
-
-# launch omniverse app
-simulation_app = AppLauncher(headless=True).app
-
 import os
 import subprocess
 import sys
 import tempfile
 
 import pytest
 
-# Skip all tests in this module on Windows
+# Skip all tests in this module on Windows - MUST be before AppLauncher
 pytestmark = pytest.mark.skipif(sys.platform == "win32", reason="Test not supported on Windows")
 
+from isaaclab.app import AppLauncher
+
+# launch omniverse app
+simulation_app = AppLauncher(headless=True).app
+
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR, retrieve_file_path
 
 DATASETS_DOWNLOAD_DIR = tempfile.mkdtemp(suffix="_Isaac-Stack-Cube-Franka-IK-Rel-Mimic-v0")

source/isaaclab_mimic/test/test_generate_dataset_skillgen.py

@@ -5,21 +5,21 @@
 
 """Test dataset generation with SkillGen for Isaac Lab Mimic workflow."""
 
-from isaaclab.app import AppLauncher
-
-# Launch omniverse app
-simulation_app = AppLauncher(headless=True).app
-
 import os
 import subprocess
 import sys
 import tempfile
 
 import pytest
 
-# Skip all tests in this module on Windows
+# Skip all tests in this module on Windows - MUST be before AppLauncher
 pytestmark = pytest.mark.skipif(sys.platform == "win32", reason="Test not supported on Windows")
 
+from isaaclab.app import AppLauncher
+
+# Launch omniverse app
+simulation_app = AppLauncher(headless=True).app
+
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR, retrieve_file_path
 
 DATASETS_DOWNLOAD_DIR = tempfile.mkdtemp(suffix="_Isaac-Stack-Cube-Franka-IK-Rel-Skillgen-v0")

source/isaaclab_tasks/test/benchmarking/env_benchmark_test_utils.py

@@ -12,7 +12,6 @@
 import yaml
 from datetime import datetime
 
-import carb
 from tensorboard.backend.event_processing import event_accumulator
 
 
@@ -135,6 +134,8 @@ def process_kpi_data(kpi_payloads, tag=""):
 
 def output_payloads(payloads):
     """Output the KPI payloads to a json file."""
+    import carb
+
     # first grab all log files
     repo_path = os.path.join(carb.tokens.get_tokens_interface().resolve("${app}"), "..")
     output_path = os.path.join(repo_path, "logs/kpi.json")
@@ -148,6 +149,8 @@ def output_payloads(payloads):
 
 def _retrieve_logs(workflow, task):
     """Retrieve training logs."""
+    import carb
+
     # first grab all log files
     repo_path = os.path.join(carb.tokens.get_tokens_interface().resolve("${app}"), "..")
     from isaacsim.core.version import get_version