Update OVRTX runtime to 0.4.1 by nvsekkin · Pull Request #7108 · isaac-sim/IsaacLab

nvsekkin · 2026-08-15T00:47:26Z

Description

Update Isaac Lab to the exact public OVRTX 0.4.1.364340 release and adopt its rendering, packaging, and determinism fixes.

Changes

Pin ovrtx==0.4.1.364340 and resolve it explicitly from public PyPI.
Enable synchronous OVRTX texture streaming.
Enable production GPU-transform reads in rendering tests.
Remove the complete OMPE-102610 first-write host-SYNC Points workaround.
Require first-write particle/deformable updates through GPU ASYNC.
Remove OVRTX 0.4 texture-readiness and motion xfails fixed by 0.4.1.
Remove crash-stable Lift MDL skips.
Restore Cartpole OVRTX RGB/RGBA to the normal 1.5% threshold.
Keep the 3% OVRTX non-depth cap while preserving depth/distance thresholds.
Add the required OVRTX-only third motion-history frame for NVBug 6565960.
Refresh 21 validated OVRTX texture, color, and motion goldens.
Update public installation documentation and proprietary-license aliases.

The existing ovphysx==0.5.9 and ovstage==0.1.0.346039 pins remain unchanged. Their companion bump will be handled separately and must preserve the exact OVRTX 0.4.1 pin.

Intentional deferrals

Keep the PXR one-thread limit and Newton motion-vector skips.
Keep the Franka cloth/soft instance-segmentation quarantines.
Keep the Franka-soft OVPhysX/OVRTX depth quarantine.
OVStage is not production-ready and is not a merge criterion for this PR.

Validation

Local validation:

uv lock --check
Formatting, lint, changelog, and Git LFS checks passed.
Focused dependency, renderer-contract, particle-binding, and parametrization tests passed.
All six required legacy kitless files passed the albedo, Minimal 2, and Minimal 3 scope:
- 27 passed
- 9 intentional unsupported-backend skips
- no retries
Lift MDL selections completed 30 fresh processes without crash, hang, or timeout.
Cartpole OVRTX RGB/RGBA completed 10/10 fresh processes at 0.00% diff without retries.
Shadow Hand frame-3 motion completed 10/10 at 0.00% diff without retries.
Lift homogeneous frame-3 motion completed 10/10; every fresh process required one inherited retry:
- first attempt: 18.85% diff
- retry: 0.00% diff
All 21 changed goldens reviewed visually.

Additional integration fixes

Temporarily quarantine the unrelated crashing Franka-soft environment smoke tasks.
Fix the handover preset test after the merged manager-task refactor replaced ObjectCfg with BALL_CFG.
Note: Transient files.pythonhosted.org HTTP 502 failures are being rerun and are unrelated to the change.

Type of change

Bug fix
Dependency update
Test/golden update
Documentation update

Checklist

I have read and understood the contribution guidelines
I have run the pre-commit checks with ./isaaclab.sh --format
I have made corresponding changes to the documentation
My changes generate no new warnings
I have added tests that prove my fix is effective or that my feature works
I have added a changelog fragment under source/<pkg>/changelog.d/ for every touched package (do not edit CHANGELOG.rst or bump extension.toml — CI handles that)
I have added my name to the CONTRIBUTORS.md or my name already exists there

greptile-apps · 2026-08-15T00:49:50Z

Greptile Summary

Updates Isaac Lab to the exact public OVRTX 0.4.1 runtime and aligns renderer behavior, dependency resolution, documentation, tests, and golden images with that release.

Pins OVRTX 0.4.1.364340 to public PyPI and enables synchronous texture streaming.
Removes obsolete particle initialization workarounds and rendering-test quarantines.
Revises rendering thresholds, motion-history setup, smoke-test exclusions, licensing aliases, and validated golden images.

Confidence Score: 5/5

The PR appears safe to merge because no blocking failure remains within the eligible follow-up-review scope.

No blocking failure remains.

Important Files Changed

Filename	Overview
pyproject.toml	Pins the exact OVRTX release and explicitly resolves it from public PyPI.
source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer.py	Adopts OVRTX 0.4.1 configuration options and removes the obsolete first-write host synchronization workaround.
source/isaaclab_tasks/test/rendering_test_utils.py	Updates OVRTX test tolerances, motion-history stepping, and release-specific quarantine behavior.
source/isaaclab_tasks/test/env_test_utils.py	Adds explicit smoke-test skips for two native-crashing Franka-soft tasks.
.github/workflows/license-check.yaml	Extends license exception matching to accept configured aliases.
uv.lock	Resolves the exact OVRTX release from public PyPI while retaining the existing dependency graph.

_{Reviews (3): Last reviewed commit: "test: Fix handover preset merge regressi..." | Re-trigger Greptile}

isaaclab-review-bot

Isaac Lab Review Bot

The OVRTX 0.4.1 dependency, public-index routing, synchronous texture streaming, updated rendering expectations, and golden-image rebaselines are internally consistent. One documentation inconsistency remains: the installation section now directs users to public PyPI while still stating that ovrtx is hosted on pypi.nvidia.com.

Design and architecture: The renderer-specific configuration remains contained in isaaclab_ov, while the dependency range and public-index routing are consistently reflected in the project metadata and lockfile. No architectural concern was identified.
API: No public Isaac Lab API compatibility issue was identified. The changed parametrization helper signatures are test-local, and their callers are updated in the patch.
Implementation: The renderer construction, dependency resolution, test parametrization, tolerance selection, and updated rendering baselines align with the OVRTX 0.4.1 migration. Before merge, update the unchanged hosting statement in docs/source/overview/core-concepts/renderers.rst so it no longer contradicts the new public-PyPI installation guidance.

Minor fixes needed. Posted 1 actionable finding inline.

Automated review; human maintainers own approval decisions.

Use the public OVRTX release, enable synchronous texture streaming, and retire rendering exemptions fixed by the updated runtime.

Remove obsolete compatibility paths and align renderer configuration, license handling, and documentation with the required runtime.

Keep release validation on the exact public OVRTX build instead of admitting unverified 0.4.x updates.

huidongc · 2026-08-18T00:32:03Z


+# OVRTX 0.4.1 rendering fixes allow a tighter tolerance for data types that
+# are not dominated by scale-sensitive depth normalization.
+_OVRTX_MAX_DIFFERENT_PIXELS_PERCENTAGE = 3.0


Isaac RTX has already enabled the synchronous texture streaming - #6932 .

Instead of maintaining a per-renderer threshold, it seems we are good to have a unified threshold. But this can be done separately after we observe the CI for a few runs to be confident.

Agreed. I am keeping the renderer-specific cap in this PR. The OVRTX 0.4.1 legacy lane passed and focused fresh-process runs showed stable Cartpole output, but Lift motion still needed the inherited retry policy. Unifying or tightening the thresholds should remain a follow-up after more CI-host data.

Prevent native soft-lift crashes from aborting every environment smoke suite until the underlying issue is fixed.

Signed-off-by: Kelly Guo <kellyg@nvidia.com>

Restore the standard Cartpole tolerance, re-enable stable Lift MDL cases, and capture the required third motion frame with validated goldens.

Align the preset test with the shared BALL_CFG introduced by the merged manager-based handover refactor.

nvsekkin · 2026-08-18T05:54:53Z


+# Native crashes cannot be contained by xfail because the process exits before
+# pytest records an outcome. Temporarily skip these tasks in every environment smoke suite.
+SKIP_TASKS: dict[str, str] = {


unrelated error causing a crash that is in Isaaclab_tasks[3/3] that is coming from test_environments_isaacsim_physx.py. while the fix is in flight, temporarily skip this test.

nvsekkin · 2026-08-18T05:56:31Z

 # Users should use ``instance_segmentation`` or ``semantic_segmentation`` instead.
 _OVRTX_DATA_TYPES = tuple(dt for dt in _DEFAULT_SENSOR_DATA_TYPES if dt != "instance_id_segmentation_fast")

-_OVRTX_TEXTURE_READINESS_DATA_TYPES = (


updated all related goldens to these AOVs in all rendering correctness test cases.

nvsekkin · 2026-08-18T05:57:04Z

-    "simple_shading_diffuse_mdl",
-    "simple_shading_full_mdl",
-)
-_OVRTX_TEXTURE_READINESS_XFAIL_REASON = "OVRTX 0.4 may return before textured materials are ready (NVBUG#6505191)."


updated all related goldens to these AOVs in all rendering correctness test cases.

nvsekkin · 2026-08-18T05:57:35Z

-)
-_OVRTX_TEXTURE_READINESS_XFAIL_REASON = "OVRTX 0.4 may return before textured materials are ready (NVBUG#6505191)."
 _KITLESS_STAGE_VARIANTS = ("legacy", "ovstage")
-_LIFT_RENDERER_CRASH_SKIP_REASON = "Lift kitless OVRTX MDL rendering can kill the test process (NVBUG#6524987)."


in 30/30 local runs I did not observe the crash, removing skip to test this on CI 🤞

nvsekkin · 2026-08-18T05:58:14Z

-_OVRTX_TEXTURE_READINESS_XFAIL_REASON = "OVRTX 0.4 may return before textured materials are ready (NVBUG#6505191)."
 _KITLESS_STAGE_VARIANTS = ("legacy", "ovstage")
-_LIFT_RENDERER_CRASH_SKIP_REASON = "Lift kitless OVRTX MDL rendering can kill the test process (NVBUG#6524987)."
-_OVRTX_CLOTH_MOTION_XFAIL_REASON = "Missing cloth in OVRTX 0.4 motion vectors (NVBUG#6489754)."


cloth is now visible (needed to move rendering 1 frame up - will be addressed in a future release, not a blocker)

nvsekkin · 2026-08-18T06:24:57Z

locally I was able to repeatedly get deterministic outputs for this frame, updated golden.

nvsekkin · 2026-08-18T06:28:08Z

this file can be removed since we are getting rid of the xfails

we can do it separately, and have the version pin go in first.

sounds good, I can have a follow up PR to remove this file

nvsekkin · 2026-08-18T06:49:15Z

 from isaaclab_physx.physics import PhysxCfg

-from isaaclab_tasks.core.handover.handover_env_cfg import HandoverEnvCfg, ObjectCfg
+from isaaclab_tasks.core.handover.handover_env_cfg import BALL_CFG, HandoverEnvCfg


this is unrelated to the PR, also addressed in #7144 - kept in this PR for speed

nvsekkin · 2026-08-18T06:57:24Z

@greptile review

nvsekkin · 2026-08-18T07:00:31Z

-    return make_skip_rendering_params(
-        params,
-        {
-            (variant, physics_backend, "ovrtx_renderer", data_type): _LIFT_RENDERER_CRASH_SKIP_REASON


empirically validated this on local runs, let's keep an eye out for this one in CI

nvsekkin · 2026-08-18T07:01:04Z

            return

        if callspec.params.get("renderer") == "ovrtx_renderer":
-            monkeypatch.setenv("ISAAC_LAB_OVRTX_READ_GPU_TRANSFORMS", "0")


removed this workaround

nvsekkin · 2026-08-18T07:01:31Z


+    # Remove the extra step when NVBug 6565960 is fixed.
+    if renderer == "ovrtx_renderer":
+        num_steps += 1


new known workaround, will be addressed in ovrtx-0.5.0

nvsekkin · 2026-08-18T07:02:12Z


-# Allow OVRTX Cartpole RGB/RGBA variation tracked by NVBUG#6152566; the SSIM gate remains enabled. The
-# deterministic Warp rasterizer and the Isaac RTX reference path keep the stricter env-wide threshold.
-_CARTPOLE_OVRTX_RGB_MAX_DIFFERENT_PIXELS_PERCENTAGE = 2.0


no longer need to single this out, it's now deterministic

nvsekkin requested a review from a team August 15, 2026 00:47

nvsekkin requested review from AntoineRichard, StafaH, fatimaanes, huidongc, hujc7, kellyguo11, marcodiiga, ooctipus, pbarejko and rilei-nvidia as code owners August 15, 2026 00:47

github-actions Bot added documentation Improvements or additions to documentation isaac-lab Related to Isaac Lab team infrastructure labels Aug 15, 2026

isaaclab-review-bot Bot reviewed Aug 15, 2026

View reviewed changes

Comment thread docs/source/overview/core-concepts/renderers.rst

nvsekkin marked this pull request as draft August 15, 2026 02:24

huidongc mentioned this pull request Aug 17, 2026

Enable synchronous texture streaming for OVRTX #6957

Closed

7 tasks

huidongc requested changes Aug 17, 2026

View reviewed changes

feat: Update OVRTX runtime to 0.4.1

0310d75

Use the public OVRTX release, enable synchronous texture streaming, and retire rendering exemptions fixed by the updated runtime.

nvsekkin force-pushed the esekkin/ovrtx-041 branch from 0bbdfb6 to 0310d75 Compare August 17, 2026 19:12

fix: Complete OVRTX 0.4.1 integration

081abd2

Remove obsolete compatibility paths and align renderer configuration, license handling, and documentation with the required runtime.

pbarejko reviewed Aug 17, 2026

View reviewed changes

Comment thread pyproject.toml Outdated

fix: Pin the OVRTX runtime build

8855ffc

Keep release validation on the exact public OVRTX build instead of admitting unverified 0.4.x updates.

nvsekkin mentioned this pull request Aug 17, 2026

[Validation] Test OVRTX 0.4.1 with OVPhysX 0.5.10 #7143

Closed

7 tasks

huidongc reviewed Aug 18, 2026

View reviewed changes

nvsekkin and others added 4 commits August 17, 2026 17:39

test: Skip crashing Franka soft smoke tasks

dc3a84c

Prevent native soft-lift crashes from aborting every environment smoke suite until the underlying issue is fixed.

Merge branch 'develop' into esekkin/ovrtx-041

b7db4c0

Signed-off-by: Kelly Guo <kellyg@nvidia.com>

test: Refresh OVRTX 0.4.1 rendering coverage

0219217

Restore the standard Cartpole tolerance, re-enable stable Lift MDL cases, and capture the required third motion frame with validated goldens.

test: Fix handover preset merge regression

b707409

Align the preset test with the shared BALL_CFG introduced by the merged manager-based handover refactor.

nvsekkin commented Aug 18, 2026

View reviewed changes

nvsekkin requested a review from huidongc August 18, 2026 06:42

nvsekkin marked this pull request as ready for review August 18, 2026 06:42

nvsekkin requested a review from myurasov-nv as a code owner August 18, 2026 06:42

nvsekkin commented Aug 18, 2026

View reviewed changes

huidongc approved these changes Aug 18, 2026

View reviewed changes

nvsekkin commented Aug 18, 2026

View reviewed changes

StafaH approved these changes Aug 18, 2026

View reviewed changes

huidongc mentioned this pull request Aug 18, 2026

OVRTX rendering support for cables #7016

Merged

7 tasks

kellyguo11 approved these changes Aug 18, 2026

View reviewed changes

nvsekkin merged commit eed452c into isaac-sim:develop Aug 18, 2026
217 of 237 checks passed

This was referenced Aug 18, 2026

Update OvPhysX to 0.5.10 #7150

Merged

Update OvPhysX to 0.5.10 #7140

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Description

Changes

Intentional deferrals

Validation

Additional integration fixes

Type of change

Checklist

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greptile-apps Bot commented Aug 15, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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Greptile Summary

Confidence Score: 5/5

Important Files Changed

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nvsekkin commented Aug 18, 2026

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nvsekkin commented Aug 15, 2026 •

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