Restore Franka cloth motion-vector regression coverage

.github/workflows/config.yaml

@@ -9,7 +9,6 @@
 # (frozen at 6.1.0-alpha.2). Both images use Isaac Sim's NGC org, which is current and
 # which the CI credential can reach.
 isaacsim_image_name: nvcr.io/0947644777160149/internal/isaac-sim
-# Isaac Sim 6.1.0-alpha.50 (b86cf6ce) includes Kit 110.3.0-360924's fix for NVBug 6566677.
-isaacsim_image_tag: latest-develop@sha256:d4667d2c0cbc1d0dcd3aac3213799777ee2cbf8de1e91cc41684023c256f176f
+isaacsim_image_tag: latest-develop@sha256:d4f160ea1568fc9e56cea00e29a3b913b7f85d07b6f2036c01a46515f320aa5e
 isaaclab_image_name: nvcr.io/0947644777160149/internal/isaac-lab
 ovphysx_wheelhouse_image: ""

source/isaaclab_tasks/changelog.d/esekkin-cloth-motion-vectors.skip

@@ -0,0 +1 @@
+Test-only: captured Franka cloth motion vectors during a controlled fall.

source/isaaclab_tasks/test/rendering_test_utils.py

@@ -1791,6 +1791,9 @@ def _configure_franka_camera_test_env_cfg(env_cfg: Any, data_type: str) -> None:
     """Apply deterministic golden rendering test overrides to a resolved Franka camera config."""
     _apply_franka_camera_golden_scene_overrides(env_cfg, data_type)
     env_cfg.commands.deformable_pose.debug_vis = False
+    if data_type == "motion_vectors":
+        initial_pos = env_cfg.scene.deformable.init_state.pos
+        env_cfg.scene.deformable.init_state.pos = (initial_pos[0], initial_pos[1], initial_pos[2] + 0.01)
     env_cfg.events.reset_deformable.params["position_range"] = {
         "x": (0.0, 0.0),
         "y": (0.0, 0.0),
@@ -1804,7 +1807,8 @@ def rendering_test_franka_cloth(
     data_type: str,
     comparison_scores: list[dict],
 ) -> None:
-    _skip_if_newton_motion_vectors(physics_backend, data_type)
+    if renderer != "ovrtx_renderer":
+        _skip_if_newton_motion_vectors(physics_backend, data_type)
 
     if renderer == "ovrtx_renderer" and data_type == "instance_segmentation":
         pytest.skip("instance_segmentation crashes with the OVRTX renderer on franka_cloth (NVBUG#6463802).")
@@ -1831,11 +1835,12 @@ def rendering_test_franka_cloth(
 
         maybe_save_stage(test_name, physics_backend, renderer, data_type)
 
-        # We step only once to let the cloth fall uniformly on the gravity but not collide with the cube on the table.
-        # This is to limit the inconsistent nodal poses and pixels from run to run due to solver scheduling and
-        # numerical precision.
+        # Advance the cloth before capturing camera output.
         zero_actions = torch.zeros(env.num_envs, env.action_manager.total_action_dim, device=env.device)
         env.step(zero_actions)
+        # TODO: Remove the extra step when NVBug 6565960 is fixed.
+        if data_type == "motion_vectors":
+            env.step(zero_actions)
 
         camera = env.scene.sensors["base_camera"]
         camera_outputs = camera.data.output