Updates package licenses, CPU Governor setting in docs, and flaky tests (#3778)

# Description

There were some recent updates to a couple of our dependency packages
that have updated their licenses. Updating our license checker
exceptions to match with the new updated licenses for these packages.

Additionally, adds a note in the simulation performance documentation
for CPU governor setting to improve performance.

Also, updates a few unit tests to mark as flaky as we've shown in recent
CI runs.


## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)
- Documentation update

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

.github/workflows/license-exceptions.json

@@ -195,13 +195,13 @@
   },
   {
     "package": "cmeel-boost",
-    "license": "UNKNOWN",
+    "license": "BSL-1.0",
     "comment": "BSL"
   },
   {
     "package": "cmeel-console-bridge",
-    "license": "UNKNOWN",
-    "comment": "BSD"
+    "license": "Zlib",
+    "comment": "ZLIBL"
   },
   {
     "package": "cmeel-octomap",
@@ -215,7 +215,7 @@
   },
   {
     "package": "cmeel-tinyxml",
-    "license": "UNKNOWN",
+    "license": "Zlib",
     "comment": "ZLIBL"
   },
   {
@@ -225,7 +225,7 @@
   },
   {
     "package": "cmeel-zlib",
-    "license": "UNKNOWN",
+    "license": "Zlib",
     "comment": "ZLIBL"
   },
   {
@@ -293,7 +293,7 @@
   },
   {
     "package": "filelock",
-    "license": "The Unlicense (Unlicense)",
+    "license": "Unlicense",
     "comment": "no condition"
   },
   {

docs/source/how-to/simulation_performance.rst

@@ -43,6 +43,21 @@ collision detection will fall back to CPU. Collisions with particles and deforma
 Suitable workarounds include switching to a bounding cube approximation, or using a static triangle mesh collider
 if the geometry is not part of a dynamic rigid body.
 
+CPU Governor Settings on Linux
+------------------------------
+
+CPU governors dictate the operating clock frequency range and scaling of the CPU. This can be a limiting factor for Isaac Sim performance. For maximum performance, the CPU governor should be set to ``performance``. To modify the CPU governor, run the following commands:
+
+.. code-block:: bash
+
+    sudo apt-get install linux-tools-common
+    cpupower frequency-info # Check available governors
+    sudo cpupower frequency-set -g performance # Set governor with root permissions
+
+.. note::
+
+    Not all governors are available on all systems. Governors enabling higher clock speed are typically more performance-centric and will yield better performance for Isaac Sim.
+
 Additional Performance Guides
 -----------------------------
 

docs/source/refs/troubleshooting.rst

@@ -78,32 +78,6 @@ For instance, to run a standalone script with verbose logging, you can use the f
 For more fine-grained control, you can modify the logging channels through the ``omni.log`` module.
 For more information, please refer to its `documentation <https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/omni.log/Logging.html>`__.
 
-Using CPU Scaling Governor for performance
-------------------------------------------
-
-By default on many systems, the CPU frequency governor is set to
-“powersave” mode, which sets the CPU to lowest static frequency. To
-increase the maximum performance, we recommend setting the CPU frequency
-governor to “performance” mode. For more details, please check the the
-link
-`here <https://access.redhat.com/documentation/en-us/red_hat_enterprise_linux/7/html/power_management_guide/cpufreq_governors>`__.
-
-.. warning::
-    We advice not to set the governor to “performance” mode on a system with poor
-    cooling (such as laptops), since it may cause the system to overheat.
-
--  To view existing ``scaling_governor`` value per CPU:
-
-   .. code:: bash
-
-      cat /sys/devices/system/cpu/cpu*/cpufreq/scaling_governor
-
--  To change the governor to “performance” mode for each CPU:
-
-   .. code:: bash
-
-      echo performance | sudo tee /sys/devices/system/cpu/cpu*/cpufreq/scaling_governor
-
 
 Observing long load times at the start of the simulation
 --------------------------------------------------------

source/isaaclab/test/assets/test_rigid_object.py

@@ -22,6 +22,7 @@ from typing import Literal
 
 import isaacsim.core.utils.prims as prim_utils
 import pytest
+from flaky import flaky
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import RigidObject, RigidObjectCfg
@@ -857,6 +858,7 @@ def test_gravity_vec_w(num_cubes, device, gravity_enabled):
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("with_offset", [True, False])
 @pytest.mark.isaacsim_ci
+@flaky(max_runs=3, min_passes=1)
 def test_body_root_state_properties(num_cubes, device, with_offset):
     """Test the root_com_state_w, root_link_state_w, body_com_state_w, and body_link_state_w properties."""
     with build_simulation_context(device=device, gravity_enabled=False, auto_add_lighting=True) as sim:

source/isaaclab/test/sensors/test_contact_sensor.py

@@ -223,6 +223,7 @@ def setup_simulation():
 
 
 @pytest.mark.parametrize("disable_contact_processing", [True, False])
+@flaky(max_runs=3, min_passes=1)
 def test_cube_contact_time(setup_simulation, disable_contact_processing):
     """Checks contact sensor values for contact time and air time for a cube collision primitive."""
     # check for both contact processing enabled and disabled