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Fix: Coarsen MuJoCo timestep on CI to stop slower-than-realtime flakes #615

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Fix: Coarsen MuJoCo timestep on CI to stop slower-than-realtime flakes #615

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c70604d
fix(ci): coarsen MuJoCo timestep to 0.004s to stop slower-than-realti…
JWhitleyWork May 7, 2026
51ee12f
fix(lab_sim): activate per-test MuJoCo reset fixture
JWhitleyWork Apr 29, 2026
0ec9013
Increase Timestep Even More
JWhitleyWork May 8, 2026
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6 changes: 5 additions & 1 deletion .github/workflows/ci.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -15,11 +15,15 @@ on:

jobs:
integration-test-in-studio-container:
uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@01ac7e19a9e4eeeff4965556e2be37159025e893 # v0.0.8
uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@81223807e77a3ebfebcf2254ac830cfb4cc67a70 # v0.0.9
with:
image_tag: ${{ github.event_name == 'pull_request' && github.event.pull_request.base.ref || github.ref_name }}
colcon_test_args: "--executor sequential"
runner: "picknik-16-amd64"
# Coarsen MuJoCo timestep on CI (default 0.002s = 500Hz) so the heavier 3.6.0
# constraint solver stays at-or-under realtime on CI runners. See
# PickNikRobotics/moveit_pro#18534 for the underlying flake history.
mujoco_ci_timestep: "0.005"
secrets:
moveit_license_key: ${{ secrets.STUDIO_CI_LICENSE_KEY }}

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1 change: 1 addition & 0 deletions src/lab_sim/test/objectives_integration_test.py
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Expand Up @@ -34,6 +34,7 @@
ExecuteObjectiveResource,
execute_objective_resource as execute_objective_resource,
get_objective_pytest_params,
reset_simulation_before_test as reset_simulation_before_test,
run_objective,
)

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