Enabled OVRTX rendering tests on CI (#5492)

# Description

Enabled OVRTX rendering tests on CI.

`OVRTX 0.3` is not published yet, so we have to use `OVRTX 0.2` render
output as golden images. Some of them are incorrect, I will update those
images when we pin to `OVRTX 0.3`.


Fixes # (issue)

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## Type of change

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- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)
- Breaking change (existing functionality will not work without user
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- Documentation update

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## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
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- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
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Author: huidongc

.github/workflows/build.yaml

@@ -256,6 +256,7 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_tasks"
+        extra-pip-packages: "ovrtx"
         shard-index: "0"
         shard-count: "3"
         container-name: isaac-lab-tasks-1-test
@@ -278,6 +279,7 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_tasks"
+        extra-pip-packages: "ovrtx"
         shard-index: "1"
         shard-count: "3"
         container-name: isaac-lab-tasks-2-test
@@ -300,6 +302,7 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_tasks"
+        extra-pip-packages: "ovrtx"
         shard-index: "2"
         shard-count: "3"
         container-name: isaac-lab-tasks-3-test

.github/workflows/daily-compatibility.yml

@@ -111,6 +111,7 @@ jobs:
         image-tag: ${{ env.DOCKER_IMAGE_TAG }}
         pytest-options: ""
         filter-pattern: "isaaclab_tasks"
+        extra-pip-packages: "ovrtx"
 
     - name: Copy All Test Results from IsaacLab Tasks Container
       run: |

docs/source/setup/installation/kitless_installation.rst

@@ -105,8 +105,6 @@ OVRTX provides GPU-accelerated rendering for vision tasks without Kit.
 
    ./isaaclab.sh -i ov[ovrtx]
 
-   export LD_PRELOAD=$(python -c "import ovrtx, pathlib; print(pathlib.Path(ovrtx.__file__).parent / 'bin/plugins/libcarb.so')")
-
    ./isaaclab.sh -p scripts/benchmarks/benchmark_rsl_rl.py \
      --task Isaac-Repose-Cube-Shadow-Vision-Benchmark-Direct-v0 \
      --headless --enable_cameras --num_envs 16 --max_iterations 10 \

source/isaaclab_ov/changelog.d/huidongc-ovrtx-keep-system-alive.rst

@@ -0,0 +1,6 @@
+Fixed
+^^^^^
+
+* Set ``keep_system_alive=True`` on the internal OVRTX ``RendererConfig`` in
+  :class:`~isaaclab_ov.renderers.ovrtx_renderer.OVRTXRenderer` so the renderer
+  system is not torn down prematurely during pytest sessions.

source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer.py

@@ -201,6 +201,7 @@ def initialize(self, spec: CameraRenderSpec):
             log_file_path=self.cfg.log_file_path,
             log_level=self.cfg.log_level,
             read_gpu_transforms=_IS_OVRTX_0_3_0_OR_NEWER,
+            keep_system_alive=True,
         )
         self._renderer = Renderer(OVRTX_CONFIG)
         assert self._renderer, "Renderer should be valid after creation"