De-flake CI - #188
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tomasz-lewicki merged 1 commit intoAug 13, 2026
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…tle/drift) Both isaacgym single-gpu failures Kevin hit on #185 are marginal settle/drift flakes in the behavior/camera suite, not regressions (each run failed a different single test on the same commit; neither is in #185's diff, which only reroutes OBJ-terrain env origins — a no-op for the procedural terrain these tests use). This removes them at the source. camera-orientation: the pin set only the root pose, then settled ~0.05s before capture. The robot is un-actuated, so its joints sag during the settle, yawing the pelvis-mounted camera enough to shift the off-axis panel across the vertical centerline — a near-boundary env images TOP-LEFT instead of the expected TOP-RIGHT. Adopt the same drift-hold the geometry/follow harnesses already use (#175/#187): capture the spawn DOF pose, re-pin root + hold joints rigid + zero velocities with a read-back-verify retry, and step a few frames before render so the corrected pose reaches the frame. static-support: a fixed 1.5s settle isn't always enough for every env's dropped box to damp out its bounce, so a random box reads a few mm outside the tight 8mm z-band (env0 fine at 0.402, another env marginally off). Settle-to-rest instead: step in 0.25s chunks until every box's z is stable between chunks and its velocity is ~0, capped at 4s so a genuinely unsupported box still falls through and fails the assertion. The pass criteria (8mm band, over-post, post-fixed) are unchanged. Based on Kevin's #185 branch so it merges straight back into it.
tomasz-lewicki
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Thanks for doing this @tomasz-lewicki ! |
tomasz-lewicki
merged commit Aug 13, 2026
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dev/tkbest/eval-obj-terrain-origins
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De-flake CI