Fix: Activate per-test MuJoCo reset fixture in lab_sim integration test#604
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Fix: Activate per-test MuJoCo reset fixture in lab_sim integration test#604JWhitleyWork wants to merge 1 commit intomainfrom
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The objective integration test runs ~117 parametrized objectives against a single shared backend and MuJoCo simulation. Pick/place, push-button, and similar objectives leave residual world state that caused order-dependent failures after the MuJoCo 3.6.0 upgrade. Re-export reset_simulation_before_test from moveit_pro_test_utils so pytest activates the autouse reset fixture for this test module. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
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Summary
reset_simulation_before_testfixture frommoveit_pro_test_utilsso pytest activates the autouse MuJoCo reset for every parametrized objective inlab_sim/test/objectives_integration_test.py.Why
The lab_sim objective integration test runs ~117 parametrized objectives against a single shared backend / MuJoCo instance, with no reset between tests. Objectives that move objects leave residual world state for subsequent tests, which became visible as failures after the MuJoCo 3.2.7 → 3.6.0 upgrade (e.g.,
Push Button With a Trajectoryfailing with "Force/Torque threshold exceeded" mid-trajectory because a prior test had left an object in the path). The reset service already exists inpicknik_mujoco_ros; the upstream PR adds a fixture that calls it; this PR opts the lab_sim test in.Dependency
This PR depends on PickNikRobotics/moveit_pro#18731 —
reset_simulation_before_testonly exists once that PR ships and a newpicknikciuser/moveit-studio:main-humbleimage is published. CI here will fail until then.Test plan
Integration Test in Studio Containerjob on this branch goes green🤖 Generated with Claude Code