diff --git a/conftest.py b/conftest.py
index 590189ee..75dedc31 100644
--- a/conftest.py
+++ b/conftest.py
@@ -21,6 +21,12 @@ def pytest_addoption(parser):
         dest="headless",
         help="Run with graphics",
     )
+    parser.addoption(
+        "--include-motion-planning",
+        action="store_true",
+        default=False,
+        help="Include motion planning tests (disabled by default)",
+    )
 
 
 # These parameter names match up with the parameter names for
@@ -54,12 +60,13 @@ def pytest_generate_tests(metafunc):
 
 # temporarily excludes the motion planning tests until the motion planning algorithms are working
 def pytest_collection_modifyitems(config, items):
-    """Exclude tests from motion_planning folder."""
-    remaining = []
+    if config.getoption("--include-motion-planning"):
+        return
+
+    skip_mp = pytest.mark.skip(reason="motion planning not ready")
     for item in items:
-        if "motion_planning" not in str(item.fspath):
-            remaining.append(item)
-    items[:] = remaining
+        if "motion_planning" in item.keywords:
+            item.add_marker(skip_mp)
 
 
 @pytest.fixture