test: align contract coverage and isolate integration suites

AGENTS.md

@@ -227,9 +227,17 @@ tensorboard --logdir runs/{env-name}
 ### 测试
 
 ```bash
-python -m pytest
+# 与 PR CI 一致的快速测试（不执行集成、慢速或 Numba 编译测试）
+python -m pytest -m "not slow and not integration and not numba"
+# CPU 编译回归、跨模块/进程集成分别执行
+python -m pytest -m "not integration and (slow or numba)"
+python -m pytest -m integration
 ```
 
+`integration` 包含真实 HTTP、子进程/分布式、ONNX round-trip 及完整 simulator 集成等跨系统契约；
+依赖要求由对应 package/测试声明。真实 GPU 测试同样标记为 `integration`，仅在配置好运行时的专用环境执行；
+无 GPU 时的 skip 不替代执行分层。完整执行不加 `-m`，会包含这些测试。
+
 RL 测试按所有权组织：`motrix_rl/tests` 覆盖公共契约与控制面；`motrix_rl_builtin/tests`、
 `motrix_rl_skrl/tests`、`motrix_rl_rslrl/tests` 覆盖各插件实现；根目录 `tests/` 覆盖 workspace CLI 和 task 配置集成。
 插件与 workspace 集成测试需要安装相应依赖；完整验证使用 `sh install.sh --all` 后运行：

motrix_deploy/src/motrix_deploy/__init__.py

@@ -3,4 +3,6 @@
 
 """Framework-independent robot policy deployment runtime."""
 
-__version__ = "0.3.0"
+from importlib.metadata import version
+
+__version__ = version("motrix-deploy")

motrix_deploy/tests/test_artifact.py

@@ -69,6 +69,7 @@ def test_task_payload_round_trip_and_tamper_rejection(
         write_artifact(tmp_path / "short.deploy", manifest, {"policy/model.onnx": POLICY_BYTES})
 
 
+@pytest.mark.integration
 def test_cli_inspect_outputs_json(tmp_path: Path, manifest_factory: Callable[[], DeploymentManifest]) -> None:
     output = tmp_path / "fixture.deploy"
     write_artifact(output, manifest_factory(), {"policy/model.onnx": POLICY_BYTES})

motrix_deploy/tests/test_config.py

@@ -34,11 +34,7 @@ def test_deploy_run_config_decodes_typed_simulation_runtime() -> None:
     assert isinstance(config.runtime, SimRuntimeCfg)
     assert config.runtime.backend == "test"
     assert config.runtime.viewer is False
-    assert config.runtime.realtime is None
     assert config.runtime.robot_init_key_pose == "lie_down"
-    assert config.runtime.physics.dt == pytest.approx(0.002)
-    assert config.runtime.physics.solver_iterations == 100
-    assert config.runtime.backend == "test"
     assert config.duration_s == pytest.approx(0.1)
 
 
@@ -48,6 +44,14 @@ def test_deploy_run_config_defaults_to_unbounded_duration() -> None:
     assert config.duration_s is None
 
 
+@pytest.mark.parametrize("duration_s", [0, -0.1, float("nan"), float("inf")])
+def test_cli_duration_rejects_nonpositive_or_nonfinite_budget(duration_s: float) -> None:
+    from motrix_deploy.cli import _duration_steps
+
+    with pytest.raises(ValueError, match="duration_s"):
+        _duration_steps(duration_s, 0.02)
+
+
 def test_sim_schema_rejects_unknown_runtime_fields() -> None:
     with pytest.raises(OmegaConfBaseException, match="robot_init_key_posee"):
         _sim_runtime({"robot_init_key_posee": "lie_down"})

motrix_deploy/tests/test_package.py

@@ -6,13 +6,10 @@
 import subprocess
 import sys
 
-import motrix_deploy
-
-
-def test_package_version() -> None:
-    assert motrix_deploy.__version__ == "0.3.0"
+import pytest
 
 
+@pytest.mark.integration
 def test_cli_help() -> None:
     result = subprocess.run(
         [sys.executable, "-m", "motrix_deploy.cli", "--help"],
@@ -26,6 +23,7 @@ def test_cli_help() -> None:
     assert "Powered by Hydra" in result.stdout
 
 
+@pytest.mark.integration
 def test_import_does_not_load_optional_or_training_packages() -> None:
     forbidden = (
         "motrix_deploy_mujoco",

motrix_deploy/tests/test_policy.py

@@ -63,6 +63,7 @@ def _write_linear_model(
     onnx.save(model, path)
 
 
+@pytest.mark.integration
 def test_onnx_policy_validates_io_and_runs_float32(tmp_path: Path) -> None:
     path = tmp_path / "policy.onnx"
     _write_linear_model(path)
@@ -78,6 +79,7 @@ def test_onnx_policy_validates_io_and_runs_float32(tmp_path: Path) -> None:
     assert output.dtype == np.float32
 
 
+@pytest.mark.integration
 def test_onnx_policy_accepts_dynamic_model_batch_for_single_sample_runtime(tmp_path: Path) -> None:
     path = tmp_path / "policy.onnx"
     _write_linear_model(path, dynamic_batch=True)
@@ -92,6 +94,7 @@ def test_onnx_policy_accepts_dynamic_model_batch_for_single_sample_runtime(tmp_p
     np.testing.assert_array_equal(output, [4.0, 5.0])
 
 
+@pytest.mark.integration
 def test_onnx_policy_rejects_manifest_name_mismatch(tmp_path: Path) -> None:
     path = tmp_path / "policy.onnx"
     _write_linear_model(path, output_name="actual_action")
@@ -104,6 +107,7 @@ def test_onnx_policy_rejects_manifest_name_mismatch(tmp_path: Path) -> None:
         )
 
 
+@pytest.mark.integration
 def test_onnx_policy_rejects_non_finite_input(tmp_path: Path) -> None:
     path = tmp_path / "policy.onnx"
     _write_linear_model(path)
@@ -117,6 +121,7 @@ def test_onnx_policy_rejects_non_finite_input(tmp_path: Path) -> None:
         runtime.infer(np.array([np.nan, 0.0, 0.0, 0.0], dtype=np.float32))
 
 
+@pytest.mark.integration
 def test_onnx_policy_rejects_non_finite_output(tmp_path: Path) -> None:
     path = tmp_path / "policy.onnx"
     _write_linear_model(path, nan_output=True)

motrix_deploy_motrixsim/tests/test_motion_state_and_native_servos.py

@@ -8,11 +8,14 @@
 
 import motrixsim as mtx
 import numpy as np
+import pytest
 from motrix_deploy_motrixsim.runtime import MotrixSimRuntime
 from test_native_motrixsim_runtime import config
 
 from motrix_deploy.contracts import JointControlMode, JointServoCommand, JointTorqueCommand
 
+pytestmark = pytest.mark.integration
+
 
 def set_simulation_state(
     runtime,

motrix_deploy_motrixsim/tests/test_native_motrixsim_runtime.py

@@ -46,6 +46,7 @@ def config(**kwargs):
     )
 
 
+@pytest.mark.integration
 def test_native_scene_init_pose_preserves_artifact_default_and_clips_servo_limits():
     cfg = config()
     cfg.scene.objs.robot.init_key_pose = "lie_down"
@@ -96,25 +97,13 @@ def bind_session(runtime, period=0.006, steps=2):
 
 
 @pytest.mark.parametrize("gravity,tolerance", [((0.3, -0.2, -4.1), 2e-7), ((-0.1, 0.4, -6.3), 3e-6)])
-def test_native_factory_forwards_shared_physics_once_to_compiler(monkeypatch, gravity, tolerance):
-    from motrix_env_motrixsim.compiler import MotrixSimSceneCompiler
-
+@pytest.mark.integration
+def test_native_factory_applies_supplied_physics(gravity, tolerance):
     cfg = config()
     physics = SimCfg(dt=0.003, solver_iterations=17, solver_tolerance=tolerance, gravity=gravity)
     cfg = replace(cfg, physics=physics)
-    calls = []
-    original = MotrixSimSceneCompiler.configure_world
-
-    def configure_world(compiler, world, sim):
-        calls.append(sim)
-        return original(compiler, world, sim)
-
-    monkeypatch.setattr(MotrixSimSceneCompiler, "configure_world", configure_world)
     runtime = create_simulation_runtime("motrixsim", cfg)
     try:
-        assert runtime.config.physics is physics
-        assert calls == [physics]
-        assert calls[0] is physics
         options = runtime.world.simulate_option
         assert options.timestep == pytest.approx(physics.dt)
         assert options.constraint_solver_iterations == physics.solver_iterations
@@ -124,6 +113,7 @@ def configure_world(compiler, world, sim):
         runtime.close()
 
 
+@pytest.mark.integration
 def test_native_factory_session_cadence_and_owner(monkeypatch):
     runtime = create_simulation_runtime("motrixsim", config())
     spec = runtime.robot.spec
@@ -154,6 +144,7 @@ def count_apply():
     assert runtime.model is None and runtime.data is None
 
 
+@pytest.mark.integration
 def test_native_servo_feedforward_snapshots_and_clipping():
     runtime = MotrixSimRuntime(config())
     with runtime:
@@ -191,6 +182,7 @@ def test_native_servo_feedforward_snapshots_and_clipping():
 
 
 @pytest.mark.parametrize("backend", ["motrixsim", "mujoco"])
+@pytest.mark.integration
 def test_stop_applies_zero_torque_across_substeps(backend):
     if backend == "mujoco":
         pytest.importorskip("mujoco")
@@ -233,21 +225,7 @@ def test_stop_applies_zero_torque_across_substeps(backend):
         np.testing.assert_array_equal(controls, 0.0)
 
 
-def test_native_servo_substeps_only_query_joint_state(monkeypatch):
-    runtime = MotrixSimRuntime(config())
-    with runtime:
-        state = runtime.robot.read_state(0.1)
-        zeros = np.zeros(runtime.robot.spec.joint_count, dtype=np.float32)
-        runtime.robot.write_command(JointServoCommand(state.joint_position + 0.01, zeros, zeros, zeros + 10, zeros + 1))
-
-        def unexpected_full_state_query(data):
-            pytest.fail("Servo substeps must not query base state or sensors")
-
-        monkeypatch.setattr(runtime.robot, "_read", SimpleNamespace(execute=unexpected_full_state_query))
-        runtime._step()
-        assert runtime.simulation_time_s == pytest.approx(runtime.config.physics.dt)
-
-
+@pytest.mark.integration
 def test_native_repeated_reset_preserves_compiled_placement_and_sensor_state():
     runtime = MotrixSimRuntime(config())
     with runtime:
@@ -285,6 +263,7 @@ def test_native_repeated_reset_preserves_compiled_placement_and_sensor_state():
         np.testing.assert_allclose(position["position"].reshape(3), initial_position, atol=1e-6)
 
 
+@pytest.mark.integration
 def test_native_sensor_bindings_are_actual_live_native_values():
     runtime = MotrixSimRuntime(config())
     with runtime:
@@ -304,6 +283,7 @@ def test_native_sensor_bindings_are_actual_live_native_values():
         assert np.isfinite(state.base_linear_acceleration).all()
 
 
+@pytest.mark.integration
 def test_native_instance_names_preserve_artifact_local_robot_contract():
     cfg = config()
     cfg.scene.objs.robot.prefix = "deployed_"
@@ -318,6 +298,7 @@ def test_native_instance_names_preserve_artifact_local_robot_contract():
         assert runtime.run().success
 
 
+@pytest.mark.integration
 def test_native_motor_source_supported():
     cfg = config()
     robot = cfg.scene.objs.robot
@@ -339,6 +320,7 @@ def test_native_motor_source_supported():
 
 
 @pytest.mark.parametrize("period", [0.001, 0.003])
+@pytest.mark.integration
 def test_native_session_period_requires_whole_physics_steps(period):
     runtime = MotrixSimRuntime(config())
     with pytest.raises(ValidationError, match="integer multiple"):
@@ -355,6 +337,7 @@ def test_native_session_period_requires_whole_physics_steps(period):
         ("base_linear_velocity", "local_linvel"),
     ],
 )
+@pytest.mark.integration
 def test_native_explicit_sensor_semantics(role, name):
     cfg = config()
     cfg = replace(cfg, sensor_bindings=replace(cfg.sensor_bindings, **{role: name}))
@@ -364,6 +347,7 @@ def test_native_explicit_sensor_semantics(role, name):
 
 
 @pytest.mark.parametrize("role", ["base_angular_velocity", "base_linear_acceleration"])
+@pytest.mark.integration
 def test_native_missing_sensor_fails_at_model_binding(role):
     cfg = config()
     cfg = replace(cfg, sensor_bindings=replace(cfg.sensor_bindings, **{role: None}))
@@ -388,6 +372,7 @@ def test_native_artifact_mapping_validates_sensor_fields(bindings, message):
         )
 
 
+@pytest.mark.integration
 def test_native_artifact_mapping_same_contract():
     cfg = config()
     runtime = create_simulation_runtime(
@@ -428,6 +413,7 @@ def test_native_artifact_mapping_rejects_unknown_physics_field():
         )
 
 
+@pytest.mark.integration
 def test_sdk_viewer_lifecycle_and_keyboard(monkeypatch):
     calls = []
 

motrix_deploy_mujoco/tests/test_examples.py

@@ -88,6 +88,7 @@ def test_example_builders_are_import_safe() -> None:
 
 
 @pytest.mark.parametrize("backend", ["mujoco"])
+@pytest.mark.integration
 def test_programmatic_example_uses_shared_control_execution(tmp_path, onnx_policy, backend) -> None:
     command = [
         sys.executable,
@@ -118,6 +119,7 @@ def test_programmatic_example_uses_shared_control_execution(tmp_path, onnx_polic
     assert _result(repeated.stdout)["trace_sha256"] == result["trace_sha256"]
 
 
+@pytest.mark.integration
 def test_simulation_factory_supports_explicit_bound_control_and_world_ownership(
     control_scene_config, control_gains
 ) -> None:
@@ -168,6 +170,7 @@ def test_simulation_factory_supports_explicit_bound_control_and_world_ownership(
     assert runtime.model is None and runtime.data is None
 
 
+@pytest.mark.integration
 def test_robot_commands_do_not_advance_or_own_the_world(control_scene_config, control_gains) -> None:
     from motrix_deploy.runtime.context import ControlContext
     from motrix_deploy_mujoco.runtime import MujocoRuntime

motrix_deploy_mujoco/tests/test_initial_state_and_native_servos.py

@@ -7,10 +7,13 @@
 from types import SimpleNamespace
 
 import numpy as np
+import pytest
 
 from motrix_deploy.contracts import JointControlMode, JointServoCommand
 from motrix_deploy_mujoco.runtime import MujocoRuntime
 
+pytestmark = pytest.mark.integration
+
 
 def _motion_fixture(spec):
     return SimpleNamespace(

motrix_deploy_mujoco/tests/test_joint_control.py

@@ -12,6 +12,8 @@
 from motrix_env_core.config.scene.actuator import MotorActuatorCfg
 from motrix_env_mujoco.compiler import MuJoCoSceneCompiler
 
+pytestmark = pytest.mark.integration
+
 
 def _servo(spec, **overrides):
     zeros = np.zeros(spec.joint_count, dtype=np.float32)
@@ -22,23 +24,24 @@ def _servo(spec, **overrides):
     return JointServoCommand(**fields)
 
 
-def test_auto_spec_inspection_reuses_original_source_spec_on_first_open(control_scene_config, monkeypatch):
-    original = MuJoCoSceneCompiler.create_spec
-    specs = []
-
-    def record_spec(compiler, scene, sim):
-        spec = original(compiler, scene, sim)
-        specs.append(spec)
-        return spec
-
-    monkeypatch.setattr(MuJoCoSceneCompiler, "create_spec", record_spec)
+def test_reopen_preserves_source_limits_and_torque_response(control_scene_config):
     runtime = MujocoRuntime(control_scene_config, 0.02)
-    assert len(specs) == 1 and runtime._source_spec is specs[0]
-    assert runtime.model is runtime.data is None
-    with runtime:
-        assert len(specs) == 1
-    with runtime:
-        assert len(specs) == 2  # Reopen starts from source, not already transformed motors.
+    spec = runtime.robot.spec
+    torque = np.linspace(-1, 1, spec.joint_count, dtype=np.float32)
+    observed = []
+    for _ in range(2):
+        with runtime:
+            np.testing.assert_allclose(runtime.robot.spec.torque_limit, spec.torque_limit)
+            initial = runtime.robot.read_state(0.1)
+            assert initial.sample_time_ns == 0
+            runtime.robot.write_command(JointTorqueCommand(torque))
+            runtime.advance_control_period()
+            state = runtime.robot.read_state(0.1)
+            assert state.sample_time_ns == 20_000_000
+            np.testing.assert_allclose(runtime.data.ctrl, torque)
+            observed.append(state)
+    np.testing.assert_allclose(observed[0].joint_position, observed[1].joint_position)
+    np.testing.assert_allclose(observed[0].joint_velocity, observed[1].joint_velocity)
 
 
 def test_torque_is_snapshotted_and_applied_directly_every_physics_substep(control_scene_config, monkeypatch):