resolve flaky test

Author: ooctipus

source/isaaclab/isaaclab/scene/interactive_scene.py

@@ -649,7 +649,6 @@ def _add_entities_from_cfg(self):
                 continue
             # resolve regex
             require_clone = False
-            asset_cfg = asset_cfg.copy()
             if hasattr(asset_cfg, "prim_path"):
                 # In order to compose cloner behavior more flexibly, we ask each spawner to spawn prototypes in
                 # prepared /World/template path, once all template is ready, cloner can determine what rules to follow

source/isaaclab/test/sensors/test_contact_sensor.py

@@ -422,7 +422,7 @@ def _run_contact_sensor_test(
 
                     scene_cfg = ContactSensorSceneCfg(num_envs=1, env_spacing=1.0, lazy_sensor_update=False)
                     scene_cfg.terrain = terrain
-                    scene_cfg.shape = shape_cfg
+                    scene_cfg.shape = shape_cfg.copy()
                     test_contact_position = False
                     if (type(shape_cfg.spawn) is sim_utils.SphereCfg) and (terrain.terrain_type == "plane"):
                         test_contact_position = True
@@ -447,6 +447,8 @@ def _run_contact_sensor_test(
                         track_contact_points=track_contact_points,
                         filter_prim_paths_expr=filter_prim_paths_expr,
                     )
+                    # replicating physx will mess up the test......
+                    scene_cfg.replicate_physics = False
                     scene = InteractiveScene(scene_cfg)
 
                     # Play the simulation