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Skip cloner perf test and fix ray caster intrinsics camera pose #5470

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Merged
kellyguo11 merged 2 commits into from
May 1, 2026
Merged

Skip cloner perf test and fix ray caster intrinsics camera pose #5470

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eb762ac
Skip local-only fabric notice perf regression test
ooctipus May 1, 2026
98adb21
Nudge ray caster intrinsics test eye off the optical axis
ooctipus May 1, 2026
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4 changes: 2 additions & 2 deletions source/isaaclab/test/sensors/test_ray_caster_camera.py
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Original file line number Diff line number Diff line change
Expand Up @@ -898,11 +898,11 @@ def test_output_equal_to_usd_camera_when_intrinsics_set(setup_sim, focal_length_

# set camera position
camera_warp.set_world_poses_from_view(
eyes=torch.tensor([[0.0, 0.0, 5.0]], device=camera_warp.device),
eyes=torch.tensor([[0.001, 0.0, 5.0]], device=camera_warp.device),
targets=torch.tensor([[0.0, 0.0, 0.0]], device=camera_warp.device),
)
camera_usd.set_world_poses_from_view(
eyes=torch.tensor([[0.0, 0.0, 5.0]], device=camera_usd.device),
eyes=torch.tensor([[0.001, 0.0, 5.0]], device=camera_usd.device),
targets=torch.tensor([[0.0, 0.0, 0.0]], device=camera_usd.device),
)

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12 changes: 8 additions & 4 deletions source/isaaclab_physx/test/sim/test_cloner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -552,10 +552,17 @@ def test_disabled_fabric_change_notifies_toggles_ifabricusd_flag(sim):
assert bindings.is_enabled(fabric_id), "outer exit should restore the flag"


@pytest.mark.skip(
reason=(
"Local-only perf regression; correctness is covered by"
" test_disabled_fabric_change_notifies_toggles_ifabricusd_flag."
" Re-enable manually when touching listener suspension."
)
)
def test_disabled_fabric_change_notifies_speedup_regression():
"""Local-only perf regression: listener suspension speeds up clone+reset by >= 1.2x.

Skipped under ``CI=true`` — the suspension mechanism's correctness is covered by
Skipped unconditionally — the suspension mechanism's correctness is covered by
:func:`test_disabled_fabric_change_notifies_toggles_ifabricusd_flag`; the wall-clock
win is platform-sensitive (deferred Fabric resync in ``sim.reset`` can offset the
scene-time savings on some hardware). Re-verify locally when touching the suspension.
Expand All @@ -564,7 +571,6 @@ def test_disabled_fabric_change_notifies_speedup_regression():
``replicate_physics=True`` is required (drops to ~1.19x without), and 16 bodies x
4096 envs ≈ 64K firings keeps listener cost above noise. See PR #5432.
"""
import os
import time

import isaaclab.cloner._fabric_notices as fabric_notices_mod
Expand All @@ -573,8 +579,6 @@ def test_disabled_fabric_change_notifies_speedup_regression():
from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
from isaaclab.utils import configclass

if os.getenv("CI", "").lower() in ("true", "1"):
pytest.skip("CI: covered by toggle test; perf is platform-sensitive — re-verify locally")
if fabric_notices_mod.get_bindings() is None:
pytest.skip("omni::fabric::IFabricUsd unavailable")

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