Fixes tests on CI (#399)

- Adds omni.usd.metrics.assembler.ui as dependency for stage unit
conversion
- Increases timeout for tests
- Adds check for correct torch version before uninstalling/installing

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

apps/isaaclab.python.headless.kit

@@ -30,6 +30,7 @@ app.version = "5.0.0"
 "omni.kit.loop" = {}
 # this is needed to create physics material through CreatePreviewSurfaceMaterialPrim
 "omni.kit.usd.mdl" = {}
+"omni.usd.metrics.assembler.ui" = {}
 
 [settings]
 app.content.emptyStageOnStart = false

isaaclab.bat

@@ -270,9 +270,26 @@ if "%arg%"=="-i" (
     rem install the python packages in isaaclab/source directory
     echo [INFO] Installing extensions inside the Isaac Lab repository...
     call :extract_python_exe
-    rem first install pytorch with cuda 12.8 for blackwell support
-    call !python_exe! -m pip uninstall -y torch torchvision torchaudio
-    call !python_exe! -m pip install torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+    rem check if pytorch is installed and its version
+    rem install pytorch with cuda 12.8 for blackwell support
+    call !python_exe! -m pip list | findstr /C:"torch" >nul
+    if %errorlevel% equ 0 (
+        for /f "tokens=2" %%i in ('!python_exe! -m pip show torch ^| findstr /C:"Version:"') do (
+            set torch_version=%%i
+        )
+        if not "!torch_version!"=="2.7.0+cu128" (
+            echo [INFO] Uninstalling PyTorch version !torch_version!...
+            call !python_exe! -m pip uninstall -y torch torchvision torchaudio
+            echo [INFO] Installing PyTorch 2.7.0 with CUDA 12.8 support...
+            call !python_exe! -m pip install torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+        ) else (
+            echo [INFO] PyTorch 2.7.0 is already installed.
+        )
+    ) else (
+        echo [INFO] Installing PyTorch 2.7.0 with CUDA 12.8 support...
+        call !python_exe! -m pip install torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+    )
+
     for /d %%d in ("%ISAACLAB_PATH%\source\*") do (
         set ext_folder="%%d"
         call :install_isaaclab_extension
@@ -298,9 +315,27 @@ if "%arg%"=="-i" (
     rem install the python packages in source directory
     echo [INFO] Installing extensions inside the Isaac Lab repository...
     call :extract_python_exe
-    rem first install pytorch with cuda 12.8 for blackwell support
-    call !python_exe! -m pip uninstall -y torch torchvision torchaudio
-    call !python_exe! -m pip install torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+
+    rem check if pytorch is installed and its version
+    rem install pytorch with cuda 12.8 for blackwell support
+    call !python_exe! -m pip list | findstr /C:"torch" >nul
+    if %errorlevel% equ 0 (
+        for /f "tokens=2" %%i in ('!python_exe! -m pip show torch ^| findstr /C:"Version:"') do (
+            set torch_version=%%i
+        )
+        if not "!torch_version!"=="2.7.0+cu128" (
+            echo [INFO] Uninstalling PyTorch version !torch_version!...
+            call !python_exe! -m pip uninstall -y torch torchvision torchaudio
+            echo [INFO] Installing PyTorch 2.7.0 with CUDA 12.8 support...
+            call !python_exe! -m pip install torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+        ) else (
+            echo [INFO] PyTorch 2.7.0 is already installed.
+        )
+    ) else (
+        echo [INFO] Installing PyTorch 2.7.0 with CUDA 12.8 support...
+        call !python_exe! -m pip install torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+    )
+
     for /d %%d in ("%ISAACLAB_PATH%\source\*") do (
         set ext_folder="%%d"
         call :install_isaaclab_extension

isaaclab.sh

@@ -276,9 +276,23 @@ while [[ $# -gt 0 ]]; do
             # install the python packages in IsaacLab/source directory
             echo "[INFO] Installing extensions inside the Isaac Lab repository..."
             python_exe=$(extract_python_exe)
-            # first install pytorch with cuda 12.8 for blackwell support
-            ${python_exe} -m pip uninstall -y torch torchvision torchaudio
-            ${python_exe} -m pip install torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+            # check if pytorch is installed and its version
+            # install pytorch with cuda 12.8 for blackwell support
+            if ${python_exe} -m pip list 2>/dev/null | grep -q "torch"; then
+                torch_version=$(${python_exe} -m pip show torch 2>/dev/null | grep "Version:" | awk '{print $2}')
+                echo "[INFO] Found PyTorch version ${torch_version} installed."
+                if [[ "${torch_version}" != "2.7.0+cu128" ]]; then
+                    echo "[INFO] Uninstalling PyTorch version ${torch_version}..."
+                    ${python_exe} -m pip uninstall -y torch torchvision torchaudio
+                    echo "[INFO] Installing PyTorch 2.7.0 with CUDA 12.8 support..."
+                    ${python_exe} -m pip install torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+                else
+                    echo "[INFO] PyTorch 2.7.0 is already installed."
+                fi
+            else
+                echo "[INFO] Installing PyTorch 2.7.0 with CUDA 12.8 support..."
+                ${python_exe} -m pip install torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+            fi
             # recursively look into directories and install them
             # this does not check dependencies between extensions
             export -f extract_python_exe

source/isaaclab/isaaclab/app/app_launcher.py

@@ -650,6 +650,7 @@ class AppLauncher:
             self.global_rank = int(os.getenv("RANK", "0")) + int(os.getenv("JAX_RANK", "0"))
 
             self.device_id = self.local_rank
+            device = "cuda:" + str(self.device_id)
             launcher_args["multi_gpu"] = False
             # limit CPU threads to minimize thread context switching
             # this ensures processes do not take up all available threads and fight for resources

source/isaaclab/test/sim/test_simulation_render_config.py

@@ -98,7 +98,7 @@ def test_render_cfg_presets():
     # user-friendly setting overrides
     dlss_mode = ("/rtx/post/dlss/execMode", 5)
 
-    rendering_modes = ["performance", "balanced", "quality", "xr"]
+    rendering_modes = ["performance", "balanced", "quality"]
 
     for rendering_mode in rendering_modes:
         # grab groundtruth preset settings

tools/run_all_tests.py

@@ -343,7 +343,9 @@ def warm_start_app():
         capture_output=True,
     )
     if len(warm_start_output.stderr) > 0:
-        if "omni::fabric::IStageReaderWriter" not in str(warm_start_output.stderr):
+        if "omni::fabric::IStageReaderWriter" not in str(warm_start_output.stderr) and "scaling_governor" not in str(
+            warm_start_output.stderr
+        ):
             logging.error(f"Error warm starting the app: {str(warm_start_output.stderr)}")
             exit(1)
 
@@ -360,7 +362,9 @@ def warm_start_app():
         capture_output=True,
     )
     if len(warm_start_rendering_output.stderr) > 0:
-        if "omni::fabric::IStageReaderWriter" not in str(warm_start_rendering_output.stderr):
+        if "omni::fabric::IStageReaderWriter" not in str(
+            warm_start_rendering_output.stderr
+        ) and "scaling_governor" not in str(warm_start_output.stderr):
             logging.error(f"Error warm starting the app with rendering: {str(warm_start_rendering_output.stderr)}")
             exit(1)
 

tools/test_settings.py

@@ -12,12 +12,12 @@ import os
 ISAACLAB_PATH = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
 """Path to the root directory of the Isaac Lab repository."""
 
-DEFAULT_TIMEOUT = 120
+DEFAULT_TIMEOUT = 200
 """The default timeout for each test in seconds."""
 
 PER_TEST_TIMEOUTS = {
-    "test_articulation.py": 200,
-    "test_rigid_object.py": 200,
+    "test_articulation.py": 300,
+    "test_rigid_object.py": 300,
     "test_rigid_object_collection.py": 200,
     "test_deformable_object.py": 200,
     "test_rigid_object_collection.py": 200,
@@ -28,7 +28,7 @@ PER_TEST_TIMEOUTS = {
     "test_camera.py": 500,
     "test_tiled_camera.py": 500,
     "test_multi_tiled_camera.py": 500,
-    "test_generate_dataset.py": 300,  # This test runs annotation for 10 demos and generation until one succeeds
+    "test_generate_dataset.py": 500,  # This test runs annotation for 10 demos and generation until one succeeds
     "test_rsl_rl_wrapper.py": 200,
     "test_sb3_wrapper.py": 200,
     "test_skrl_wrapper.py": 200,