Restore Franka cloth motion-vector regression coverage by nvsekkin · Pull Request #7195 · isaac-sim/IsaacLab

nvsekkin · 2026-08-19T23:16:53Z

Description

Restore meaningful Franka cloth motion-vector regression coverage after #6998 changed the task to clamp the cloth between supports.

Raise the cloth by 1 cm for the Newton + OVRTX motion-vector case so it undergoes visible motion.
Preserve the OVRTX third-frame workaround tracked by NVBug 6565960.
Re-enable Newton + OVRTX cloth motion-vector coverage and refresh its golden.
Scope the controlled fall and extra frame strictly to Newton + OVRTX, leaving all other backend/renderer combinations unchanged.
Keep Newton + Isaac RTX quarantined under its existing nondeterminism policy.

The third-frame workaround can be removed after the OVRTX fix is available in a post-GA release.

Type of change

Bug fix (non-breaking change which fixes an issue)

Screenshots

Updated Newton + OVRTX motion-vector golden:

Checklist

I have read and understood the contribution guidelines
I have run the pre-commit checks with ./isaaclab.sh --format
I have made corresponding changes to the documentation
My changes generate no new warnings
I have added tests that prove my fix is effective or that my feature works
I have added a changelog fragment under source/<pkg>/changelog.d/ for every touched package (do not edit CHANGELOG.rst or bump extension.toml — CI handles that)
I have added my name to the CONTRIBUTORS.md or my name already exists there

Release backport

Backport this pull request to the active release branch after it merges into develop

Pin CI to alpha.58 so renderer validation uses the current Kit build.

Start the cloth above its supports, preserve the OVRTX history workaround, and require real cloth motion before golden comparison.

Keep the workflow-managed latest-develop tag while pinning the validated image digest.

nvsekkin · 2026-08-19T23:19:14Z

 ) -> None:
-    _skip_if_newton_motion_vectors(physics_backend, data_type)
+    if renderer != "ovrtx_renderer":
+        _skip_if_newton_motion_vectors(physics_backend, data_type)


the motion vector for deformable is still observed missing in the isaac rtx path

greptile-apps · 2026-08-19T23:20:17Z

Greptile Summary

Restores Franka cloth motion-vector regression coverage for the Newton and OVRTX combination.

Re-enables the previously skipped parameter combination.
Raises the cloth and advances one extra frame for the affected rendering case.
Refreshes the corresponding golden image and parametrization assertions.

Confidence Score: 5/5

The PR appears safe to merge.

No blocking failure remains; the previously reported image-tag validation issue is fixed because the current tag uses the required latest-develop@sha256: format.

Important Files Changed

Filename	Overview
source/isaaclab_tasks/test/rendering_test_utils.py	Scopes the controlled cloth fall, extra simulation frame, and skip removal to Newton with OVRTX motion vectors.
source/isaaclab_tasks/test/test_parametrization_helpers.py	Updates expected marks for supported Franka OVRTX motion-vector parameters.
source/isaaclab_tasks/test/golden_images/franka_cloth/newton-ovrtx_renderer-motion_vectors.png	Refreshes the Newton and OVRTX motion-vector regression golden.

_{Reviews (4): Last reviewed commit: "Merge remote-tracking branch 'upstream/d..." | Re-trigger Greptile}

Let the workflow-managed image tag and pinned digest remain the source of truth.

nvsekkin · 2026-08-19T23:20:59Z

new golden shows the motion vector in frame 3 - will be addressed in ovrtx 0.5.0

Keep the rendering regression focused on the captured motion-vector golden instead of Newton displacement magnitude.

isaaclab-review-bot

Isaac Lab Review Bot

The PR restores Franka cloth motion-vector coverage, but the new pose offset and extra simulation step affect all enabled motion-vector backend/renderer combinations while only the Newton+OVRTX golden is updated.

Design and architecture: The workaround is implemented in shared Franka cloth rendering-test helpers and keyed only on data_type, so it changes existing motion-vector scenarios beyond the Newton+OVRTX combination being restored.
API: No public APIs or documented contracts are changed; the affected surface is limited to private rendering-test configuration, CI configuration, and golden test data.
Implementation: The 1 cm initial-position offset and second env.step apply to non-Newton motion-vector tests that still reach this path. Scope these changes to the intended backend/renderer combination or refresh every affected motion-vector golden.

Minor fixes needed. Posted 1 actionable finding inline.

Automated review; human maintainers own approval decisions.

nvsekkin · 2026-08-20T00:49:00Z

@greptile review

AntoineRichard

Is OVRTX 0.5 planned for GA?

nvsekkin · 2026-08-20T17:16:29Z

Is OVRTX 0.5 planned for GA?

no that would come after GA

mmichelis

Thanks for the changes! Just one question on if the changes are scoped correctly, otherwise looks good to me.

…tion-vectors

Limit the controlled fall and history workaround to validated Newton OVRTX coverage, and drop the unrelated Isaac Sim image bump.

nvsekkin · 2026-08-20T19:04:19Z

@greptile review

Resolve grouped rendering parameters while preserving scoped Newton OVRTX cloth motion coverage.

…tion-vectors

nvsekkin · 2026-08-24T22:06:16Z

@greptile review

isaaclab-bot · 2026-08-25T01:11:25Z

Backported to release/3.0.0 as d1ab276.

# Description Restore meaningful Franka cloth motion-vector regression coverage after #6998 changed the task to clamp the cloth between supports. - Raise the cloth by 1 cm for the Newton + OVRTX motion-vector case so it undergoes visible motion. - Preserve the OVRTX third-frame workaround tracked by NVBug 6565960. - Re-enable Newton + OVRTX cloth motion-vector coverage and refresh its golden. - Scope the controlled fall and extra frame strictly to Newton + OVRTX, leaving all other backend/renderer combinations unchanged. - Keep Newton + Isaac RTX quarantined under its existing nondeterminism policy. The third-frame workaround can be removed after the OVRTX fix is available in a post-GA release. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots Updated Newton + OVRTX motion-vector golden: ![Updated Franka cloth motion-vector golden](https://github.com/nvsekkin/IsaacLab/blob/esekkin/cloth-motion-vectors/source/isaaclab_tasks/test/golden_images/franka_cloth/newton-ovrtx_renderer-motion_vectors.png?raw=true) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have added a changelog fragment under `source/<pkg>/changelog.d/` for every touched package (do **not** edit `CHANGELOG.rst` or bump `extension.toml` — CI handles that) - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there ## Release backport - [x]  Backport this pull request to the active release branch after it merges into `develop` (cherry picked from commit 553efa6)

nvsekkin added 2 commits August 19, 2026 16:13

ci: Update Isaac Sim develop image

b8ddbe9

Pin CI to alpha.58 so renderer validation uses the current Kit build.

test: Restore Franka cloth motion-vector coverage

295d649

Start the cloth above its supports, preserve the OVRTX history workaround, and require real cloth motion before golden comparison.

nvsekkin requested a review from a team August 19, 2026 23:16

nvsekkin requested review from StafaH, hujc7, kellyguo11, myurasov-nv and ooctipus as code owners August 19, 2026 23:16

github-actions Bot added isaac-lab Related to Isaac Lab team infrastructure labels Aug 19, 2026

nvsekkin commented Aug 19, 2026

View reviewed changes

Comment thread source/isaaclab_tasks/test/rendering_test_utils.py Outdated

ci: Preserve rolling Isaac Sim tag

f002c46

Keep the workflow-managed latest-develop tag while pinning the validated image digest.

nvsekkin commented Aug 19, 2026

View reviewed changes

greptile-apps Bot reviewed Aug 19, 2026

View reviewed changes

Comment thread .github/workflows/config.yaml Outdated

ci: Remove stale image version comment

40013e0

Let the workflow-managed image tag and pinned digest remain the source of truth.

nvsekkin commented Aug 19, 2026

View reviewed changes

test: Remove solver-specific fall assertion

77d3b45

Keep the rendering regression focused on the captured motion-vector golden instead of Newton displacement magnitude.

nvsekkin commented Aug 19, 2026

View reviewed changes

Comment thread .github/workflows/config.yaml

nvsekkin requested a review from mmichelis August 19, 2026 23:23

isaaclab-review-bot Bot reviewed Aug 19, 2026

View reviewed changes

Comment thread source/isaaclab_tasks/test/rendering_test_utils.py Outdated

AntoineRichard reviewed Aug 20, 2026

View reviewed changes

Merge branch 'develop' into esekkin/cloth-motion-vectors

63b507b

mmichelis reviewed Aug 20, 2026

View reviewed changes

Comment thread source/isaaclab_tasks/test/rendering_test_utils.py Outdated

nvsekkin added 2 commits August 20, 2026 11:35

Merge remote-tracking branch 'upstream/develop' into esekkin/cloth-mo…

40ba5ac

…tion-vectors

test: Scope Franka cloth motion-vector changes

14454b1

Limit the controlled fall and history workaround to validated Newton OVRTX coverage, and drop the unrelated Isaac Sim image bump.

mmichelis approved these changes Aug 21, 2026

View reviewed changes

nvsekkin added 2 commits August 24, 2026 14:03

Merge upstream/develop into esekkin/cloth-motion-vectors

9c9d0be

Resolve grouped rendering parameters while preserving scoped Newton OVRTX cloth motion coverage.

Merge remote-tracking branch 'upstream/develop' into esekkin/cloth-mo…

db6d4c2

…tion-vectors

kellyguo11 approved these changes Aug 24, 2026

View reviewed changes

nvsekkin enabled auto-merge (squash) August 24, 2026 23:10

nvsekkin merged commit 553efa6 into isaac-sim:develop Aug 25, 2026
48 of 49 checks passed

Uh oh!

Conversation

nvsekkin commented Aug 19, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Description

Type of change

Screenshots

Checklist

Release backport

Uh oh!

Uh oh!

nvsekkin Aug 19, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps Bot commented Aug 19, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Greptile Summary

Confidence Score: 5/5

Important Files Changed

Uh oh!

Uh oh!

nvsekkin Aug 19, 2026

Choose a reason for hiding this comment

Uh oh!

Uh oh!

isaaclab-review-bot Bot left a comment

Choose a reason for hiding this comment

Isaac Lab Review Bot

Uh oh!

Uh oh!

nvsekkin commented Aug 20, 2026

Uh oh!

AntoineRichard left a comment

Choose a reason for hiding this comment

Uh oh!

nvsekkin commented Aug 20, 2026

Uh oh!

mmichelis left a comment

Choose a reason for hiding this comment

Uh oh!

Uh oh!

nvsekkin commented Aug 20, 2026

Uh oh!

nvsekkin commented Aug 24, 2026

Uh oh!

Uh oh!

isaaclab-bot Bot commented Aug 25, 2026

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

4 participants

nvsekkin commented Aug 19, 2026 •

edited

Loading

greptile-apps Bot commented Aug 19, 2026 •

edited

Loading