Fix flakey video recording test - #7285
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ooctipus merged 4 commits intoAug 22, 2026
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The test drove the cartpole with zero actions and asserted motion from the recorded clip's temporal pixel std. With zero actions, all visible motion comes from passive dynamics (gravity acting on the pole), which is occasionally too weak within the 12-frame clip window to clear the 0.1 motion threshold, causing an intermittent "no motion detected" failure in CI. Drive the cart with a constant, deterministic push instead, giving the motion check a large, consistent margin regardless of passive-dynamics timing.
Give the motion-detection assertions more sim time to accumulate visible pixel change, further reducing the chance of a borderline temporal-std result. Steps scale with the larger clip length to keep the same post-clip flush margin.
…sensor-physx-moving-clip
matthewtrepte
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August 21, 2026 18:48
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This test-only change lengthens video capture and applies deterministic nonzero actions in the camera cartpole helper to improve the motion assertion’s stability. The added .skip fragment appropriately records the non-user-visible package change.
- Design and architecture: The change remains confined to the existing test harness and does not alter recorder, environment, renderer, or production architecture. Existing source-specific test paths are preserved.
- API: No public APIs, configuration contracts, exports, or compatibility surfaces change. The package-local
.skipchangelog fragment follows repository policy for a test-only fix. - Implementation: The longer clip and constant camera-environment action directly increase the temporal-motion signal while retaining the existing content checks. The comment’s reference to the former 12-frame failure window could be phrased more explicitly as historical context, but it does not create a material implementation or maintenance defect requiring action before merge.
No blocking issues. No inline issue met the actionable-evidence threshold; the assessment above records the review feedback.
Automated review; human maintainers own approval decisions.
kellyguo11
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Aug 22, 2026
ooctipus
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Aug 22, 2026
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Aug 22, 2026
…7299) ## Summary Backports the following merged changes to `release/3.0.0` as separate provenance-preserving cherry-picks: - #7292 — scope Newton global imports with clone plans - #7285 — stabilize the sensor/PhysX video recording test - #7269 — streamline Newton contact and raycast sensor startup - #7119 — normalize non-finite depth display values safely - #7295 — avoid repeated Newton model and articulation startup work Each source squash commit was cherry-picked with `-x` and applied without conflicts. ## Validation - Stable patch IDs match all five source squash commits exactly. - File-by-file manifests match each source squash commit. - `git diff --check upstream/release/3.0.0..HEAD` - `uv run --frozen python tools/changelog/cli.py check backport-7285-7292-base` - `SKIP=check-changelog-fragments uv run --frozen isaaclab -f` - Cloner/Newton focused tests: 98 passed - Scene global-ownership tests: 2 passed - Simulator clone-plan tests: 4 passed - Video recording regression test: 1 passed - Newton BVH lifecycle tests: 2 passed - Newton contact-selector tests: 7 passed - Newton raycast BVH test: 4 passed - Non-finite depth display tests: 4 passed - #7295 physics lifecycle, cloner, manager, and coupling tests: 248 passed - #7295 Newton joint-wrench sensor tests: 11 passed - #7295 PhysX joint-wrench sensor tests: 16 passed PR #7121 remains open and is intentionally excluded; it will be backported from its final merge commit after merging. --------- Signed-off-by: Sylvester Kaczmarek <16242628+sylvesterkaczmarek@users.noreply.github.com> Co-authored-by: matthewtrepte <mtrepte@nvidia.com> Co-authored-by: camevor <camevor@nvidia.com> Co-authored-by: Sylvester Kaczmarek <16242628+sylvesterkaczmarek@users.noreply.github.com> Co-authored-by: Antoine RICHARD <antoiner@nvidia.com>
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developfor allcontributions. The
release/3.0.0-beta2branch is a frozen stable landingsnapshot and is not used for ongoing maintenance.
To reduce flakiness in motion check in the video recording unit test
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pre-commitchecks with./isaaclab.sh --formatsource/<pkg>/changelog.d/for every touched package (do not editCHANGELOG.rstor bumpextension.toml— CI handles that)CONTRIBUTORS.mdor my name already exists there