From fe601172b70e04ca64d775626c8e820f10b4a02e Mon Sep 17 00:00:00 2001 From: Josh Whitley Date: Thu, 7 May 2026 15:16:02 -0600 Subject: [PATCH] fix(lab_sim): bump gripper and GetImage timeouts to stabilize CI The MuJoCo 3.2.7 -> 3.6.0 upgrade (moveit_pro@6eedef88a5) made the constraint solver heavier per step, so on CI hardware the simulator runs slower than realtime and emits "Mujoco model timestep not running in realtime" warnings. This pushes two previously-borderline timeouts in lab_sim integration tests over the edge: - MoveGripperAction's 15s timeout fires while the Robotiq 2f85 is still closing on the push-button laptop, failing push_button_with_a_trajectory ~9/10 runs. - GetImage's 5s wait on /wrist_camera/color times out before the first EGL-rendered frame is published, failing ml_segment_point_cloud ~4/10 runs. Bump MoveGripperAction timeout 15s -> 30s in close_gripper.xml and open_gripper.xml, and GetImage message_timeout_sec 5s -> 15s in the shared picknik_ur_base_config Segment Image subtree. These are mitigations; the durable fix (per moveit_pro#18534) is rethinking the test harness for tighter physics, but this should flip main green while that work happens. Co-Authored-By: Claude Opus 4.7 (1M context) --- src/lab_sim/objectives/close_gripper.xml | 2 +- src/lab_sim/objectives/open_gripper.xml | 2 +- .../segment_image_from_no_negative_text_prompt_subtree.xml | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/lab_sim/objectives/close_gripper.xml b/src/lab_sim/objectives/close_gripper.xml index 6960f3d7f..e95c3b276 100644 --- a/src/lab_sim/objectives/close_gripper.xml +++ b/src/lab_sim/objectives/close_gripper.xml @@ -10,7 +10,7 @@ ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929" - timeout="15.000000" + timeout="30.000000" /> diff --git a/src/lab_sim/objectives/open_gripper.xml b/src/lab_sim/objectives/open_gripper.xml index 7fda16316..7015db77b 100644 --- a/src/lab_sim/objectives/open_gripper.xml +++ b/src/lab_sim/objectives/open_gripper.xml @@ -11,7 +11,7 @@ ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.05" - timeout="15.000000" + timeout="30.000000" /> diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_no_negative_text_prompt_subtree.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_no_negative_text_prompt_subtree.xml index 29a059373..669c0f3c3 100644 --- a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_no_negative_text_prompt_subtree.xml +++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_no_negative_text_prompt_subtree.xml @@ -12,7 +12,7 @@