revert: Keep scene partitioning opt-in

Retain the alpha.50 pin and explicit partition coverage, but postpone the
default-on behavior while global goal markers remain in the background
partition under NVBug 6601572. Restore the existing visualizer golden.

Author: nvsekkin

source/isaaclab/changelog.d/esekkin-enable-scene-partition-default.rst

@@ -11,8 +11,8 @@
 def isaac_rtx_per_env_scene_partition_enabled() -> bool:
     """Return whether per-environment RTX scene partitioning is enabled.
 
-    Partitioning is enabled by default. Set
-    ``ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION=0`` to disable authoring of
-    ``primvars:omni:scenePartition`` and ``omni:scenePartition`` on the USD stage.
+    Partitioning is opt-in: set ``ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION=1``
+    to enable authoring of ``primvars:omni:scenePartition`` and ``omni:scenePartition``
+    on the USD stage.
     """
-    return os.environ.get("ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION", "1") == "1"
+    return os.environ.get("ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION", "0") == "1"

source/isaaclab/isaaclab/utils/renderers.py

@@ -1 +1 @@
-Test-only: re-enabled default-on Isaac RTX scene-partition isolation tests with Isaac Sim alpha.50.
+Test-only: re-enabled Isaac RTX scene-partition isolation tests with Isaac Sim alpha.50.

source/isaaclab_physx/changelog.d/esekkin-upgrade-isaac-sim-alpha50.skip

@@ -196,10 +196,10 @@ def supported_output_types(self) -> dict[RenderBufferKind, RenderBufferSpec]:
     def prepare_stage(self, stage: Usd.Stage, num_envs: int) -> None:
         """Author per-env ``omni:scenePartition`` attributes for RTX cull-by-env rendering.
 
-        Authoring is enabled by default. Set
-        ``ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION=0`` to make this method
-        a no-op so no ``primvars:omni:scenePartition`` or ``omni:scenePartition``
-        attributes are written to the stage.
+        Authoring is only performed when
+        ``ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION=1`` is set.
+        When the variable is absent the method is a no-op and no ``primvars:omni:scenePartition``
+        or ``omni:scenePartition`` attributes are written to the stage.
 
         When enabled, for each ``/World/envs/env_{i}`` root, writes the inheriting primvar
         ``primvars:omni:scenePartition`` (token ``env_{i}``) on the root and the matching
@@ -212,7 +212,9 @@ def prepare_stage(self, stage: Usd.Stage, num_envs: int) -> None:
             return
 
         logger.debug(
-            "Per-environment RTX scene partitioning is enabled. Authoring primvars:omni:scenePartition on %d env(s).",
+            "Per-environment RTX scene partitioning is enabled"
+            " (ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION=1)."
+            " Authoring primvars:omni:scenePartition on %d env(s).",
             num_envs,
         )
 

source/isaaclab_physx/isaaclab_physx/renderers/isaac_rtx_renderer.py

@@ -17,8 +17,11 @@
 ``isaacsim_ci`` test file in its own app, so keeping these tests isolated here gives them
 a clean renderer and exercises the real single-scene use case.
 
-Per-env scene partitioning is enabled by default. Set
-``ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION=0`` to disable it.
+Per-env scene partitioning is gated behind the
+``ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION`` environment variable and is off
+by default. Tests that verify partitioning is *active* use the ``enable_scene_partition``
+fixture, which sets the variable for the duration of the test and restores the previous
+state afterwards.
 
 Launch Isaac Sim Simulator first.
 """
@@ -49,33 +52,22 @@
 _ENV_VAR = "ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION"
 
 
-@pytest.mark.isaacsim_ci
-def test_partitioning_enabled_by_default(monkeypatch):
-    """``primvars:omni:scenePartition`` must be authored when the environment variable is absent."""
-    from pxr import Usd
-
-    monkeypatch.delenv(_ENV_VAR, raising=False)
-
-    stage = Usd.Stage.CreateInMemory()
-    world = stage.DefinePrim("/World", "Xform")  # noqa: F841
-    env0 = stage.DefinePrim("/World/envs/env_0", "Xform")  # noqa: F841
-
-    renderer = object.__new__(IsaacRtxRenderer)
-    renderer.cfg = IsaacRtxRendererCfg()
-    renderer.prepare_stage(stage, num_envs=1)
-
-    prim = stage.GetPrimAtPath("/World/envs/env_0")
-    assert prim.HasAttribute("primvars:omni:scenePartition"), (
-        "primvars:omni:scenePartition must be authored when partitioning uses its default."
-    )
+@pytest.fixture()
+def enable_scene_partition(monkeypatch):
+    """Set ``ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION=1`` for the duration of one test."""
+    monkeypatch.setenv(_ENV_VAR, "1")
 
 
 @pytest.mark.isaacsim_ci
-def test_partitioning_can_be_disabled(monkeypatch):
-    """``primvars:omni:scenePartition`` must not be authored when partitioning is explicitly disabled."""
+def test_partitioning_disabled_by_default(monkeypatch):
+    """``primvars:omni:scenePartition`` must NOT be authored when the env var is absent.
+
+    The feature is off by default; this test confirms that :meth:`IsaacRtxRenderer.prepare_stage`
+    is a no-op without ``ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION=1``.
+    """
     from pxr import Usd
 
-    monkeypatch.setenv(_ENV_VAR, "0")
+    monkeypatch.delenv(_ENV_VAR, raising=False)
 
     stage = Usd.Stage.CreateInMemory()
     world = stage.DefinePrim("/World", "Xform")  # noqa: F841
@@ -92,7 +84,7 @@ def test_partitioning_can_be_disabled(monkeypatch):
 
 
 @pytest.mark.isaacsim_ci
-def test_partitioning_isolates_rigid_object():
+def test_partitioning_isolates_rigid_object(enable_scene_partition):
     """Per-env :class:`~isaaclab.assets.RigidObject` instances at unique world positions render
     as visibly different per-env tiles when RTX honors ``primvars:omni:scenePartition``."""
 
@@ -159,7 +151,7 @@ class _Scene(InteractiveSceneCfg):
 
 
 @pytest.mark.isaacsim_ci
-def test_partitioning_isolates_articulation():
+def test_partitioning_isolates_articulation(enable_scene_partition):
     """Per-env :class:`~isaaclab.assets.Articulation` instances driven to wildly different joint
     poses render as visibly different per-env tiles when RTX honors top-level scene partitions."""
 

source/isaaclab_physx/test/renderers/test_isaac_rtx_renderer_scene_partitioning.py

@@ -1 +1 @@
-Test-only: restored default-on scene-partition coverage for registered rendering tasks with Isaac Sim alpha.50.
+Test-only: restored scene-partition coverage for registered rendering tasks with Isaac Sim alpha.50.

source/isaaclab_tasks/changelog.d/esekkin-upgrade-isaac-sim-alpha50.skip

@@ -18,6 +18,12 @@
 sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
 
 
+@pytest.fixture()
+def enable_scene_partition(monkeypatch):
+    """Set ``ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION=1`` for the duration of one test."""
+    monkeypatch.setenv("ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION", "1")
+
+
 @pytest.fixture()
 def ovstage_variant(request, monkeypatch):
     """Select the indirectly parametrized OVRTX stage path."""

source/isaaclab_tasks/test/conftest.py

@@ -86,7 +86,7 @@ def _collect_camera_outputs(env: object) -> dict[str, dict[str, torch.Tensor]]:
 
 
 @pytest.mark.parametrize("task_id, presets, env_name", _RENDER_CORRECTNESS_TASK_IDS)
-def test_rendering_registered_tasks(task_id: str, presets: str | None, env_name: str):
+def test_rendering_registered_tasks(task_id: str, presets: str | None, env_name: str, enable_scene_partition):
     """Test registered tasks rendering correctness."""
     env = None
 

source/isaaclab_tasks/test/core/test_rendering_registered_tasks.py

@@ -899,9 +899,9 @@ def _apply_viewport_camera_scene_partition(self, usd_stage: Usd.Stage, num_envs:
         ``/World/envs`` and are created by Kit, so they do not inherit the env-root
         primvar authored by :class:`~isaaclab.scene.InteractiveScene`.
 
-        This behavior is enabled by default. Set
-        ``ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION=0`` to disable it,
-        matching :meth:`~isaaclab_physx.renderers.IsaacRtxRenderer.prepare_stage`.
+        This method is a no-op unless ``ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION=1``,
+        matching the opt-in behaviour of
+        :meth:`~isaaclab_physx.renderers.IsaacRtxRenderer.prepare_stage`.
         """
 
         if not isaac_rtx_per_env_scene_partition_enabled():
@@ -911,7 +911,8 @@ def _apply_viewport_camera_scene_partition(self, usd_stage: Usd.Stage, num_envs:
             return
 
         logger.debug(
-            "[KitVisualizer] Per-environment Isaac RTX scene partitioning is enabled."
+            "[KitVisualizer] Per-environment Isaac RTX scene partitioning is enabled"
+            " (ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION=1)."
             " Authoring omni:scenePartition attribute onto viewport camera '%s'.",
             self._controlled_camera_path,
         )