Enabled OVRTX rendering tests on CI

.github/workflows/build.yaml

@@ -256,6 +256,7 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_tasks"
+        extra-pip-packages: "ovrtx"
         shard-index: "0"
         shard-count: "3"
         container-name: isaac-lab-tasks-1-test
@@ -278,6 +279,7 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_tasks"
+        extra-pip-packages: "ovrtx"
         shard-index: "1"
         shard-count: "3"
         container-name: isaac-lab-tasks-2-test
@@ -300,6 +302,7 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_tasks"
+        extra-pip-packages: "ovrtx"
         shard-index: "2"
         shard-count: "3"
         container-name: isaac-lab-tasks-3-test

.github/workflows/daily-compatibility.yml

@@ -111,6 +111,7 @@ jobs:
         image-tag: ${{ env.DOCKER_IMAGE_TAG }}
         pytest-options: ""
         filter-pattern: "isaaclab_tasks"
+        extra-pip-packages: "ovrtx"
 
     - name: Copy All Test Results from IsaacLab Tasks Container
       run: |

docs/source/setup/installation/kitless_installation.rst

@@ -105,8 +105,6 @@ OVRTX provides GPU-accelerated rendering for vision tasks without Kit.
 
    ./isaaclab.sh -i ov[ovrtx]
 
-   export LD_PRELOAD=$(python -c "import ovrtx, pathlib; print(pathlib.Path(ovrtx.__file__).parent / 'bin/plugins/libcarb.so')")
-
    ./isaaclab.sh -p scripts/benchmarks/benchmark_rsl_rl.py \
      --task Isaac-Repose-Cube-Shadow-Vision-Benchmark-Direct-v0 \
      --headless --enable_cameras --num_envs 16 --max_iterations 10 \

source/isaaclab_ov/changelog.d/huidongc-ovrtx-keep-system-alive.rst

@@ -0,0 +1,6 @@
+Fixed
+^^^^^
+
+* Set ``keep_system_alive=True`` on the internal OVRTX ``RendererConfig`` in
+  :class:`~isaaclab_ov.renderers.ovrtx_renderer.OVRTXRenderer` so the renderer
+  system is not torn down prematurely during pytest sessions.

source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer.py

@@ -201,6 +201,7 @@ def initialize(self, spec: CameraRenderSpec):
             log_file_path=self.cfg.log_file_path,
             log_level=self.cfg.log_level,
             read_gpu_transforms=_IS_OVRTX_0_3_0_OR_NEWER,
+            keep_system_alive=True,
         )
         self._renderer = Renderer(OVRTX_CONFIG)
         assert self._renderer, "Renderer should be valid after creation"

source/isaaclab_tasks/test/rendering_test_utils.py

@@ -66,15 +66,8 @@
 # Parametrization: (physics_backend, renderer, data_type)
 # ---------------------------------------------------------------------------
 
-# OVRTX kitless paths can segfault on CI runners; keep warp/Kit paths in CI.
-_SKIP_ON_CI = any(os.environ.get(name) == "true" for name in ("CI", "GITHUB_ACTIONS", "GITLAB_CI"))
-_SKIP_ON_CI_MARK = pytest.mark.skipif(
-    _SKIP_ON_CI,
-    reason="Skipped on CI runners until the test can run on CI runners.",
-)
-
-# Let's just accept the fact that low-resolution camera outputs from RTX renderers are not deterministic enough to pass
-# golden image testing on every CI run.
+# Low-resolution camera outputs from RTX renderers are not deterministic enough to pass golden image testing
+# on every CI run. (NVBUG#6152566)
 _FLAKY_MARK = pytest.mark.flaky(max_runs=3, min_passes=1)
 
 PHYSICS_RENDERER_AOV_COMBINATIONS = [
@@ -200,49 +193,49 @@
         "ovrtx_renderer",
         "rgb",
         id="newton-ovrtx-rgb",
-        marks=_SKIP_ON_CI_MARK,
+        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "newton",
         "ovrtx_renderer",
         "albedo",
         id="newton-ovrtx-albedo",
-        marks=_SKIP_ON_CI_MARK,
+        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "newton",
         "ovrtx_renderer",
         "depth",
         id="newton-ovrtx-depth",
-        marks=_SKIP_ON_CI_MARK,
+        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "newton",
         "ovrtx_renderer",
         "simple_shading_constant_diffuse",
         id="newton-ovrtx-simple_shading_constant_diffuse",
-        marks=_SKIP_ON_CI_MARK,
+        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "newton",
         "ovrtx_renderer",
         "simple_shading_diffuse_mdl",
         id="newton-ovrtx-simple_shading_diffuse_mdl",
-        marks=_SKIP_ON_CI_MARK,
+        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "newton",
         "ovrtx_renderer",
         "simple_shading_full_mdl",
         id="newton-ovrtx-simple_shading_full_mdl",
-        marks=_SKIP_ON_CI_MARK,
+        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "newton",
         "ovrtx_renderer",
         "semantic_segmentation",
         id="newton-ovrtx-semantic_segmentation",
-        marks=_SKIP_ON_CI_MARK,
+        marks=_FLAKY_MARK,
     ),
     # newton + newton_renderer (warp)
     pytest.param(

tools/test_settings.py

@@ -62,6 +62,11 @@
     "test_shadow_hand_vision_presets.py": 5000,
     "test_environments_newton.py": 5000,
     "test_surface_gripper.py": 3000,
+    # For some reason kitless rendering tests take much longer on CI than local machines.
+    # After we pin OVRTX to 0.3 we need to test whether it is still reproducible.
+    "test_rendering_cartpole_kitless.py": 2000,
+    "test_rendering_dexsuite_kuka_kitless.py": 2000,
+    "test_rendering_shadow_hand_kitless.py": 2000,
 }
 """A dictionary of tests and their timeouts in seconds.