[Backport release/3.0.0] Cherry-pick selected develop PRs (#7226)

## Summary

Cherry-picks the following merged PRs from `develop` onto
`release/3.0.0`, preserving each as an individual commit with `-x`
provenance:

- #7193 — Bake CI pytest deps into the built Docker image
- #7077 — Add OVPhysX support to Franka deformable lift tasks
- #7175 — Raise on unsupported camera renderer outputs
- #7174 — Fix benchmark play inference scope
- #7173 — Report resolved backend for play benchmarks
- #7172 — Add video recording to play benchmarks
- #7215 — Reduce GearAssembly default environment count
- #7214 — Remove Kamino preset from open drawer
- #7213 — Fix OvPhysX scene gravity randomization
- #7212 — Fix OVPhysX material binding device selection
- #7189 — Make preview surfaces renderer agnostic
- #7206 — Fix OVPhysX benchmark articulation setup

All cherry-picks and the final rebase onto the latest `release/3.0.0`
tip completed without conflicts.

## Validation

- Verified all 12 backported commits have patch IDs identical to their
source squash commits and retain their `cherry picked from` footers.
- `git diff --check upstream/release/3.0.0..HEAD`
- Bash syntax validation for the modified CI shell scripts.
- YAML parsing for the modified composite actions.
- Changelog validation against `release/3.0.0`.
- Targeted pytest coverage for benchmark APIs/play, video recording,
GearAssembly defaults, OVPhysX presets and runtime semantics, and
renderer-agnostic materials: **81 passed, 4 skipped, 1 deselected**.
- The deselected case is an unchanged test that hard-codes a POSIX
`/tmp` path and fails on Windows path normalization.
- `uv run isaaclab -f` passed all hooks except the changelog hook's
known release-branch baseline finding for
`source/isaaclab/changelog.d/core-test-config-fixtures.skip`; the
targeted release-base changelog check passed.

---------

Co-authored-by: Matthew Taylor <mataylor@nvidia.com>
Co-authored-by: Antoine RICHARD <antoiner@nvidia.com>
Co-authored-by: Mike Yan Michelis <46975745+mmichelis@users.noreply.github.com>
Co-authored-by: Maximilian Krause <99733341+maxkra15@users.noreply.github.com>
Co-authored-by: Octi Zhang <zhengyuz@nvidia.com>
Co-authored-by: Mustafa H <34825877+StafaH@users.noreply.github.com>

Author: 7 people

.github/actions/_lib/compute-deps-hash/action.yml

@@ -54,6 +54,9 @@ runs:
           isaaclab.sh
           environment.yml
           source/isaaclab/isaaclab/cli
+          # Pins the CI pytest deps layered onto the image after build, so a
+          # change to that list must invalidate the deps cache.
+          .github/actions/docker-build/action.yml
         )
         deps_manifest_pattern='(setup\.py|pyproject\.toml|setup\.cfg|extension\.toml|requirements[^/]*\.txt|uv\.lock)$'
 

.github/actions/docker-build/action.yml

@@ -175,7 +175,33 @@ runs:
         docker buildx build --load "${BUILD_ARGS[@]}" "${{ inputs.context-path }}"
         echo "was-built=true" >> "$GITHUB_OUTPUT"
 
-    ##### 6: Tag built image with local deps-tag #####
+    ##### 6: Layer the CI pytest harness onto the built image #####
+
+    # Kept out of the tracked Dockerfiles, which build local dev containers and
+    # ship via publish-images.yaml. Only on a real build; cache hits have it.
+
+    - name: Layer CI test dependencies
+      if: steps.build.outputs.was-built == 'true'
+      shell: bash
+      run: |
+        set -euo pipefail
+        # pip needs root; restore the image's own default user afterwards.
+        image_user="$(docker image inspect --format '{{.Config.User}}' "${{ inputs.image-tag }}")"
+        # Dockerfile on stdin (no context to stage). Quoted heredoc so the
+        # shell leaves ISAACLAB_PATH and IMAGE_USER for Docker to expand; the
+        # image tag is an action input, substituted before bash ever runs.
+        docker build --platform "${{ inputs.platform }}" \
+          --build-arg "IMAGE_USER=${image_user:-root}" \
+          -t "${{ inputs.image-tag }}" - <<'DOCKERFILE'
+        FROM ${{ inputs.image-tag }}
+        ARG IMAGE_USER
+        USER root
+        RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install \
+              pytest pytest-mock junitparser flaky "coverage>=7.6.1"
+        USER ${IMAGE_USER}
+        DOCKERFILE
+
+    ##### 7: Tag built image with local deps-tag #####
 
     # Runs only when a real build happened (not on cache hits). Populates the
     # deps-tag so the next build with identical deps short-circuits at step 4.
@@ -191,7 +217,7 @@ runs:
           echo "🟠 LOCAL_DEPS_TAG not set, skipping local deps-cache tag"
         fi
 
-    ##### 7: Evict stale local deps-cache tags (>14d) — opt-in #####
+    ##### 8: Evict stale local deps-cache tags (>14d) — opt-in #####
 
     - name: Evict stale local deps-cache tags (>14d)
       if: always() && inputs.evict-stale-cache == 'true'
@@ -214,7 +240,7 @@ runs:
           --format '{{.CreatedAt}}|{{.Repository}}:{{.Tag}}' 2>/dev/null)
         echo "🔵 Evicted ${evicted} deps tag(s) older than ${TTL_DAYS}d"
 
-    ##### 8: Host disk snapshot (post) #####
+    ##### 9: Host disk snapshot (post) #####
 
     - name: Host disk snapshot (post)
       if: always()

.github/actions/multi-gpu/multi_gpu_shard_runner.sh

@@ -20,38 +20,33 @@
 #
 # Behavior:
 #   1. Materializes HOME + PYTHONUSERBASE dirs (tmpfs, world-writable)
-#   2. Installs pytest deps (junitparser et al.) into the shared PYTHONUSERBASE
-#   3. Derives shard count from nvidia-smi -L (authoritative; torch.cuda.device_count
+#   2. Derives shard count from nvidia-smi -L (authoritative; torch.cuda.device_count
 #      under-counts MIG-on-same-parent unless CUDA_VISIBLE_DEVICES enumerates each)
-#   4. Cross-checks torch against the nvidia-smi count and caps shards to what torch
+#   3. Cross-checks torch against the nvidia-smi count and caps shards to what torch
 #      can address (guards against CUDA_VISIBLE_DEVICES misconfig on a MIG host)
-#   5. Fans out 1 pytest subshell per non-default cuda:N with per-shard HOME +
+#   4. Fans out 1 pytest subshell per non-default cuda:N with per-shard HOME +
 #      ISAACLAB_TEST_DEVICES; each shard tees its stdout to
 #      /shard-logs/cuda-N.log for the host's grouped re-print after the run
-#   6. Waits on every shard before aggregating exit codes — a fast failure doesn't
+#   5. Waits on every shard before aggregating exit codes — a fast failure doesn't
 #      tear down still-running siblings
+#
+# The pytest deps (pytest, junitparser et al.) are baked into the image by
+# .github/actions/docker-build, so this script no longer installs them.
 
 set +e  # keep going on errors; per-shard exit codes are aggregated at the end
 cd /workspace/isaaclab
 unset DISPLAY  # clear the var that would force Kit into headed (X11) mode
 
-# Container-level HOME + PYTHONUSERBASE for pip --user installs. The image
-# runs as --user $host_uid:$host_gid with no matching /etc/passwd entry, so
-# HOME defaults to /root which the user cannot write. /tmp/* is on tmpfs
+# Container-level HOME + PYTHONUSERBASE. The image runs as
+# --user $host_uid:$host_gid with no matching /etc/passwd entry, so HOME
+# defaults to /root which the user cannot write. /tmp/* is on tmpfs
 # (1777, world-writable).
 #
-# PYTHONUSERBASE is the key for the 1-docker shape: pip --user writes to
-# ${PYTHONUSERBASE}/lib/python3.12/site-packages, and every Python invocation
-# that sees the same env var imports from there. Per-shard subshells below
-# override HOME (so .cache / .nvidia-omniverse are isolated) but inherit
-# PYTHONUSERBASE so junitparser et al. resolve everywhere.
+# Both must exist before any shard starts: per-shard subshells below override
+# HOME (so .cache / .nvidia-omniverse are isolated) but inherit
+# PYTHONUSERBASE, so anything writing to the user site shares one directory.
 mkdir -p /tmp/mgpu-base-home /tmp/mgpu-pyuserbase
 
-# Pytest deps (same as run-tests action). junitparser is imported at
-# tools/conftest.py load time, so it must be present first.
-bash .github/actions/_lib/with-python-package-retries.sh \
-  ./isaaclab.sh -p -m pip install pytest pytest-mock junitparser flaky "coverage>=7.6.1"
-
 # Shard count from nvidia-smi -L (truth; torch under-counts MIG).
 MIG_COUNT=$(nvidia-smi -L | grep -c "^  MIG ")  # grep -c = count of matching lines (MIG slices)
 GPU_COUNT=$(nvidia-smi -L | grep -c "^GPU ")    # count of whole GPUs

.github/actions/run-tests/run_tests.sh

@@ -322,7 +322,6 @@ run_tests() {
       mkdir -p tests
       rm _isaac_sim || true
       ln -s /isaac-sim _isaac_sim
-      bash /with-python-package-retries.sh ./isaaclab.sh -p -m pip install pytest pytest-mock junitparser flaky \"coverage>=7.6.1\"
       if [ -n \"\${WARP_CACHE_PATH:-}\" ]; then
         ./isaaclab.sh -p tools/verify_warp_cache.py
       fi

scripts/demos/mpm/newton_mpm_granular.py

@@ -111,16 +111,6 @@ def create_sim_cfg():
     )
 
 
-def preview_material(color):
-    """Return a preview-surface material for Kit runs; Kit-less runs spawn no USD materials."""
-    if "kit" not in (args_cli.visualizer or []):
-        return None
-
-    import isaaclab.sim as sim_utils
-
-    return sim_utils.PreviewSurfaceCfg(diffuse_color=color)
-
-
 def create_scene_cfg():
     """Create an Isaac Lab scene config using declarative assets."""
     from isaaclab_newton.assets import MPMObjectCfg
@@ -141,7 +131,7 @@ def collider_cfg(prim_path: str, center, half_extents, orientation, friction: fl
                     static_friction=friction,
                     dynamic_friction=friction,
                 ),
-                visual_material=preview_material((0.45, 0.45, 0.45)),
+                visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.45, 0.45, 0.45)),
             ),
             init_state=AssetBaseCfg.InitialStateCfg(pos=center, rot=orientation),
         )

scripts/demos/mpm/snowball_smash.py

@@ -239,9 +239,7 @@ def crate_cfg(index: int) -> RigidObjectCfg:
                     dynamic_friction=CRATE_FRICTION,
                 ),
                 physics_material_path="physicsMaterial",
-                visual_material=(
-                    sim_utils.PreviewSurfaceCfg(diffuse_color=color) if "kit" in (args_cli.visualizer or []) else None
-                ),
+                visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=color),
                 visual_material_path="visualMaterial",
             ),
             init_state=RigidObjectCfg.InitialStateCfg(pos=center),

scripts/demos/mpm/teapot_fill.py

@@ -423,16 +423,6 @@ def create_sim_cfg():
     )
 
 
-def preview_material(color):
-    """Return a preview-surface material for Kit runs; Kit-less runs spawn no USD materials."""
-    if "kit" not in (args_cli.visualizer or []):
-        return None
-
-    import isaaclab.sim as sim_utils
-
-    return sim_utils.PreviewSurfaceCfg(diffuse_color=color)
-
-
 def create_scene_cfg():
     """Create the teapot-fill scene using declarative Isaac Lab assets."""
     from isaaclab_newton.assets import MPMObjectCfg
@@ -475,7 +465,7 @@ class TeapotFillSceneCfg(InteractiveSceneCfg):
                     dynamic_friction=TABLE_FRICTION,
                 ),
                 physics_material_path="physicsMaterial",
-                visual_material=preview_material(TABLE_COLOR),
+                visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=TABLE_COLOR),
                 visual_material_path="visualMaterial",
             ),
             init_state=AssetBaseCfg.InitialStateCfg(
@@ -498,7 +488,7 @@ class TeapotFillSceneCfg(InteractiveSceneCfg):
                     dynamic_friction=BOWL_FRICTION,
                 ),
                 physics_material_path="physicsMaterial",
-                visual_material=preview_material(BOWL_COLOR),
+                visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=BOWL_COLOR),
                 visual_material_path="visualMaterial",
             ),
             init_state=AssetBaseCfg.InitialStateCfg(pos=BOWL_BASE_POS),
@@ -529,7 +519,7 @@ class TeapotFillSceneCfg(InteractiveSceneCfg):
                     dynamic_friction=CONTAINER_FRICTION,
                 ),
                 physics_material_path="physicsMaterial",
-                visual_material=preview_material(CONTAINER_COLOR),
+                visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=CONTAINER_COLOR),
                 visual_material_path="visualMaterial",
             ),
             init_state=RigidObjectCfg.InitialStateCfg(pos=container_pos, rot=container_rot),
@@ -549,10 +539,10 @@ class TeapotFillSceneCfg(InteractiveSceneCfg):
                     tensile_yield_ratio=5.0,
                 ),
                 visual_color=WATER_COLOR,
-                visual_material=sim_utils.GlassMdlCfg(
-                    glass_color=WATER_COLOR,
-                    glass_ior=1.333,
-                    thin_walled=False,
+                visual_material=sim_utils.PreviewSurfaceCfg(
+                    diffuse_color=WATER_COLOR,
+                    roughness=0.1,
+                    opacity=0.7,
                 ),
             ),
             init_state=MPMObjectCfg.InitialStateCfg(pos=container_pos),

source/isaaclab/changelog.d/antoiner-benchmark-play-video.rst

@@ -0,0 +1,5 @@
+Added
+^^^^^
+
+* Added video recording to the RSL-RL, RL-Games, SKRL, and SB3 play benchmark adapters and populated
+  :attr:`~isaaclab.benchmark.schema.PlayBundle.video_path` with the recording directory.

source/isaaclab/changelog.d/benchmark-play-inference-mode.rst

@@ -0,0 +1,4 @@
+Fixed
+^^^^^
+
+* Fixed play benchmarks running environment actions outside inference mode.

source/isaaclab/changelog.d/camera-renderer-unsupported-data-types.rst

@@ -0,0 +1,6 @@
+Changed
+^^^^^^^
+
+* **Breaking:** Camera configurations now raise an error when the active renderer cannot produce a requested
+  data type, rather than silently omitting it. Remove unsupported types from ``CameraCfg.data_types`` or select
+  a renderer that supports them.