[CI] Cache tetrahedralization dependencies in the base image

[mataylor-nvidia]

Description

The OVRTX cache warmer's Franka soft-body tests fail during scene setup with ModuleNotFoundError: No module named 'pytetwild'. Install the existing tetrahedralization extra when building the shared base image so the warmer and other deformable tests inherit it from the cached image.

Add --extra tetrahedralization to the image's existing frozen uv sync steps and remove the 12 duplicated pytetwild runtime requirements from the build workflow. The version range remains in pyproject.toml, and uv.lock selects the installed version. The existing dependency-image cache key already tracks both manifests and the Dockerfile, so dependency changes invalidate the cache automatically.

Observed failure: https://github.com/isaac-sim/IsaacLab/actions/runs/35643651003/job/106478957632

Type of change

• Bug fix (CI dependency)

Validation

• uv run --extra test --frozen python -m pytest -q docker/test/test_dockerfile_nonroot.py docker/test/test_security_dependencies.py — 36 tests and 11 subtests passed.
• uv run isaaclab -f — all pre-commit checks passed using the existing validation environment and the upstream develop base for changelog validation.
• Parsed and compared the workflow before and after the change: all 12 affected jobs use the base image, and all settings other than the removed package requirements are unchanged.
• Exported the frozen tetrahedralization extra and verified it includes pytetwild, pyvista, and vtk.
• git diff --check — passed.
• The Docker image build and GPU warmer remain unverified locally; the dedicated warmer is skipped on pull-request events.

Release backport

• Backport this pull request to the active release branch after it merges into develop

Checklist

• Read the contribution guidelines.
• Ran the repository formatting and lint checks.
• No changelog fragment required: only Docker and CI configuration changed.

[greptile-apps]

Confidence Score: 5/5

The PR appears safe to merge; the dependency addition follows existing workflow conventions and addresses the reported missing-module failure.

Summary

This PR adds the missing PyTetWild tetrahedralization dependency to the post-merge OVRTX shader-cache warmer.

• Uses the same bounded pytetwild[all]>=0.3.0,<0.4 requirement as the rendering-correctness jobs.
• Allows selected Franka soft-body rendering cases to complete scene setup and populate the shader cache.

_{Reviews (1) · Last reviewed commit: "Fix OVRTX cache warmer tetrahedralizatio..."}

[isaaclab-review-bot]

Isaac Lab Review Bot

The change narrowly adds pytetwild[all]>=0.3.0,<0.4 to the OVRTX cache warmer’s existing extra-package list, addressing the reported missing dependency without altering cache publication or job scheduling behavior.

• Design and architecture: The dependency is added within the existing warm-ovrtx-cache job; job boundaries, gating, concurrency, and cache handling remain unchanged.
• API: The extra-pip-packages action input remains a space-separated requirement string, with the existing OVRTX and PhysX pin outputs preserved. No public Isaac Lab API is affected.
• Implementation: The requirement is bounded to the 0.3 release series and is placed alongside the warmer’s existing runtime dependencies. The GPU warmer was not executed locally, so successful installation and execution of the node IDs selected through .github/test-subsets/postmerge-rendering.toml remain to be confirmed by post-merge CI.

No blocking issues. No inline issue met the actionable-evidence threshold; the assessment above records the review feedback.

Automated review; human maintainers own approval decisions.

[mataylor-nvidia]

image deps are cached across jobs so this would remove overhead.

another way this could be fixed is it could be layered in

- name: Layer CI test dependencies
RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install \
              pytest pytest-mock junitparser flaky "coverage>=7.6.1 {tetrahedralization deps here}"

However, the docker change is much cleaner

[mataylor-nvidia]

run-ci

[isaaclab-bot]

Backported to release/3.0.0 as 5964017.