Stabilize RTX rendering checks across GPUs

Author: ooctipus

source/_isaaclab_testing/test/rendering/golden_image.py

@@ -20,6 +20,8 @@
 
 from isaaclab.utils.images import make_camera_output_grid, normalize_camera_output_for_display
 
+RTX_COLOR_PIXEL_L2_THRESHOLD = 20.0
+
 
 @dataclass(frozen=True)
 class ImageComparison:

source/_isaaclab_testing/test/rendering/rendering_runner.py

@@ -12,7 +12,7 @@
 from typing import Any
 
 import torch
-from golden_image import camera_output_image, compare_to_golden
+from golden_image import RTX_COLOR_PIXEL_L2_THRESHOLD, camera_output_image, compare_to_golden
 from rendering_cases import KIT_RENDERING_CASES, RenderCase
 from rendering_runtime import SEMANTIC_COLORS, build_rendering_scene
 from rendering_scene_cfgs import make_rendering_scene_spec
@@ -31,6 +31,7 @@
     RenderBufferKind.MOTION_VECTORS,
 }
 _ALPHA_ONLY_AOVS = {RenderBufferKind.INSTANCE_SEGMENTATION, RenderBufferKind.INSTANCE_ID_SEGMENTATION_FAST}
+_RTX_COLOR_AOVS = {RenderBufferKind.RGB, RenderBufferKind.ALBEDO}
 
 
 def run_rendering_case(
@@ -97,6 +98,9 @@ def run_rendering_case(
                 artifact_dir=_ARTIFACT_DIR,
                 max_diff_pct=image_max_diff_pct,
                 min_ssim=None if aov in _NO_SSIM else min_ssim,
+                pixel_l2_threshold=(
+                    RTX_COLOR_PIXEL_L2_THRESHOLD if case.renderer == "isaac_rtx" and aov in _RTX_COLOR_AOVS else 10.0
+                ),
                 # OVRTX's numeric semantic IDs vary by USD reader; metadata validates their labels separately.
                 alpha_only=aov in _ALPHA_ONLY_AOVS
                 or (case.renderer == "ovrtx" and aov == RenderBufferKind.SEMANTIC_SEGMENTATION),

source/_isaaclab_testing/test/rendering/rendering_runtime.py

@@ -157,8 +157,9 @@ def build_rendering_scene(
     with build_simulation_context(sim_cfg=sim_cfg) as sim:
         if renderer is not None:
             sim.set_setting("/isaaclab/render/rtx_sensors", True)
-            # Golden captures must not race background texture streaming.
-            sim.set_setting("/rtx-transient/resourcemanager/enableTextureStreaming", False)
+            if renderer == "ovrtx":
+                # OVRTX has no Kit USD-context streaming wait; golden captures must not race texture uploads.
+                sim.set_setting("/rtx-transient/resourcemanager/enableTextureStreaming", False)
         runtime = RenderingScene(
             sim,
             InteractiveScene(scene_cfg),

source/_isaaclab_testing/test/rendering/rendering_scene_cfgs.py

@@ -574,6 +574,8 @@ def make_rendering_scene_spec(scene: str, physics: str) -> RenderingSceneSpec:
             camera_eye=(-5.0, 0.0, 2.0),
             camera_target=(0.0, 0.0, 2.0),
             expected_instances={f"/World/envs/env_{env_id}/Robot": "cartpole" for env_id in range(4)},
+            # Isaac RTX color differs across GPU families while the reset pose remains structurally identical.
+            image_tolerance_overrides={("isaac_rtx", RenderBufferKind.RGB): (8.0, 0.95)},
         )
     if scene in {"franka_soft", "franka_cloth"}:
         if physics != "newton":

source/_isaaclab_testing/test/rendering/test_golden_image.py

@@ -10,7 +10,7 @@
 
 import pytest
 import torch
-from golden_image import compare_to_golden
+from golden_image import RTX_COLOR_PIXEL_L2_THRESHOLD, compare_to_golden
 from PIL import Image
 from rendering_runner import _validate_segmentation
 
@@ -59,6 +59,36 @@ def test_difference_fails_and_writes_artifacts(tmp_path: Path, monkeypatch: pyte
     assert comparison.golden_path is not None and comparison.golden_path.exists()
 
 
+def test_rtx_color_threshold_ignores_small_shifts_but_not_large_deltas(
+    tmp_path: Path, monkeypatch: pytest.MonkeyPatch
+) -> None:
+    monkeypatch.delenv("ISAACLAB_UPDATE_GOLDENS", raising=False)
+    golden = tmp_path / "golden.png"
+    _image((0, 0, 0)).save(golden)
+
+    small_shift = compare_to_golden(
+        _image((15, 0, 0)),
+        golden,
+        label="small-shift",
+        artifact_dir=tmp_path / "artifacts",
+        max_diff_pct=0.0,
+        min_ssim=None,
+        pixel_l2_threshold=RTX_COLOR_PIXEL_L2_THRESHOLD,
+    )
+    large_delta = compare_to_golden(
+        _image((30, 0, 0)),
+        golden,
+        label="large-delta",
+        artifact_dir=tmp_path / "artifacts",
+        max_diff_pct=0.0,
+        min_ssim=None,
+        pixel_l2_threshold=RTX_COLOR_PIXEL_L2_THRESHOLD,
+    )
+
+    assert small_shift.passed and small_shift.diff_pct == 0.0
+    assert not large_delta.passed and large_delta.diff_pct == 100.0
+
+
 def test_missing_baseline_is_bootstrapped_but_fails(tmp_path: Path, monkeypatch: pytest.MonkeyPatch) -> None:
     monkeypatch.delenv("ISAACLAB_UPDATE_GOLDENS", raising=False)
     golden = tmp_path / "missing.png"

source/_isaaclab_testing/test/rendering/test_rendering_architecture.py

@@ -291,6 +291,19 @@ def test_reset_and_teardown_policies_keep_their_owners() -> None:
     build = next(
         node for node in runtime_tree.body if isinstance(node, ast.FunctionDef) and node.name == "build_rendering_scene"
     )
+    texture_setting = "/rtx-transient/resourcemanager/enableTextureStreaming"
+    texture_calls = [
+        node
+        for node in ast.walk(build)
+        if isinstance(node, ast.Call)
+        and ast.unparse(node.func) == "sim.set_setting"
+        and node.args
+        and ast.literal_eval(node.args[0]) == texture_setting
+    ]
+    ovrtx_branch = next(
+        node for node in ast.walk(build) if isinstance(node, ast.If) and ast.unparse(node.test) == "renderer == 'ovrtx'"
+    )
+    assert len(texture_calls) == 1 and texture_calls[0] in ast.walk(ovrtx_branch)
     assert any(
         ast.unparse(node) == "runtime.scene.close()"
         for try_node in ast.walk(build)

source/_isaaclab_testing/test/rendering/visualizer_runner.py

@@ -12,7 +12,7 @@
 
 import numpy as np
 import torch
-from golden_image import camera_output_image, compare_to_golden, frame_image
+from golden_image import RTX_COLOR_PIXEL_L2_THRESHOLD, camera_output_image, compare_to_golden, frame_image
 from isaaclab_visualizers.kit import KitVisualizerCfg
 from isaaclab_visualizers.newton import NewtonGLVisualizerCfg
 from PIL import Image
@@ -80,6 +80,8 @@ def run_visualizer_case(physics: str, kind: str, tiled: bool, request: Any) -> N
             artifact_dir=_ARTIFACT_DIR,
             max_diff_pct=8.0 if kind == "kit" and tiled else 5.0 if kind == "kit" else 0.75,
             min_ssim=0.97 if kind == "kit" else 0.99,
+            # Kit RTX has small cross-GPU color shifts; SSIM and the spatial budget still gate structure.
+            pixel_l2_threshold=RTX_COLOR_PIXEL_L2_THRESHOLD if kind == "kit" else 10.0,
         )
         comparison.record(request)