fix(isaacsim): hard-exit camera assert harnesses past the Kit teardown deadlock

The 11 isaacsim camera tests each hung the full 700s subprocess timeout and
were SIGKILL'd (-9) in the blocking `Gate: isaacsim tests` on Docker Build,
turning it from ~12m into 2h41m and blocking :latest promotion.

Root cause (proven by a native py-spy stack on the A10G): the tests were NOT
hanging in rendering — rendering completes fine (get_camera_data returns a
correct (1,64,64,3) uint8 frame). They hung on process EXIT. IsaacSim's
atexit teardown deadlocks in carbOnPluginShutdown tearing down the
omni.syntheticdata / OmniGraph render-product graph that a TiledCamera
creates, so the subprocess never exits; run_harness's subprocess.run(700s)
then times out and SIGKILLs it — turning a PASS (verdict already written to
--result-file) into a spurious timeout failure.

This is why the isaacsim tests that already os._exit (behavior_assert,
scene_spawn_assert) passed while the camera harnesses using plain
sys.exit(main()) hung; non-camera tests build no syntheticdata graph and
tear down cleanly.

Fix: each camera *_assert.py now flushes and os._exit(main()) after main()
returns (the sentinel is already on disk), bypassing the deadlocking
teardown — the pattern behavior_assert/scene_spawn_assert already use.

Validated on the A10G CI runner: camera_geometry_assert.py renders,
prints "geometry OK"/PASS, writes OK, and exits rc=0 with no teardown hang.

Also adds a ruff per-file-ignore of PLC0415 for tests/simulators/*_assert.py
(these standalone harnesses defer torch/isaaclab imports until after the
SimApp is launched, inherent to IsaacSim), and fixes a pre-existing unused
unpack (RUF059) in camera_follow_assert.py surfaced by linting the file.

Author: juan-g-bonilla

pyproject.toml

@@ -48,6 +48,7 @@ lint.ignore=[
 "src/holosoma/holosoma/utils/warp_utils.py" = ["UP018", "RUF046"]
 "src/holosoma/holosoma/simulator/isaacsim/**/*.py" = ["ALL"]  # Disable until Jenkins has access to IsaacLab
 "src/holosoma/holosoma/train_agent.py" = ["PLC0415"]  # Disable since imports after SimApp are inherent to IsaacSim
+"src/holosoma/tests/simulators/*_assert.py" = ["PLC0415"]  # Standalone sim harnesses defer torch/isaaclab imports until after the SimApp is launched (inherent to IsaacSim)
 "src/holosoma/holosoma/utils/draw.py" = ["F401"]  # Disable since unused imports are required for the adapters
 "src/holosoma/holosoma/utils/eval_utils.py" = ["PLC0415"]  # Disable since imports after SimApp are inherent to IsaacSim
 "src/holosoma_inference/holosoma_inference/policies/base.py" = ["PLC0415"]  # Deferred imports for optional heavy deps (ROS2, joystick, keyboard providers)

src/holosoma/tests/simulators/camera_actor_mount_assert.py

@@ -10,6 +10,7 @@
 
 import argparse
 import dataclasses
+import os
 import sys
 
 if sys.path and sys.path[0].endswith("simulators"):
@@ -102,4 +103,13 @@ def main() -> int:
 
 
 if __name__ == "__main__":
-    sys.exit(main())
+    # IsaacSim teardown deadlocks in carbOnPluginShutdown tearing down the
+    # omni.syntheticdata/OmniGraph render-product graph a TiledCamera creates (native
+    # py-spy stack), so a normal interpreter exit hangs until the parent's subprocess
+    # timeout SIGKILLs it -- turning a PASS (verdict already written to --result-file) into
+    # a spurious timeout failure. Hard-exit past the atexit teardown, mirroring
+    # behavior_assert / scene_spawn_assert. Rendering itself is fine; only exit hangs.
+    _rc = main()
+    sys.stdout.flush()
+    sys.stderr.flush()
+    os._exit(_rc)

src/holosoma/tests/simulators/camera_assert.py

@@ -21,6 +21,7 @@
 
 import argparse
 import dataclasses
+import os
 import sys
 
 # Pop this dir off sys.path[0] so tests/simulators/isaacsim/ can't shadow the real isaacsim pkg.
@@ -184,4 +185,13 @@ def main() -> int:
 
 
 if __name__ == "__main__":
-    sys.exit(main())
+    # IsaacSim teardown deadlocks in carbOnPluginShutdown tearing down the
+    # omni.syntheticdata/OmniGraph render-product graph a TiledCamera creates (native
+    # py-spy stack), so a normal interpreter exit hangs until the parent's subprocess
+    # timeout SIGKILLs it -- turning a PASS (verdict already written to --result-file) into
+    # a spurious timeout failure. Hard-exit past the atexit teardown, mirroring
+    # behavior_assert / scene_spawn_assert. Rendering itself is fine; only exit hangs.
+    _rc = main()
+    sys.stdout.flush()
+    sys.stderr.flush()
+    os._exit(_rc)

src/holosoma/tests/simulators/camera_follow_assert.py

@@ -13,6 +13,7 @@
 
 import argparse
 import dataclasses
+import os
 import sys
 
 if sys.path and sys.path[0].endswith("simulators"):
@@ -124,7 +125,7 @@ def _place(x_offset: float, rot_xyzw) -> None:
         step(sim, max(2, steps_for_seconds(sim, 0.05)))
         sim.render_sensors()
 
-    cam_name, cam = next(iter(config.sensor.items()))
+    cam_name, _cam = next(iter(config.sensor.items()))
     _place(0.0, base_rot)
     before = [
         _panel_median_depth(sim.get_camera_data(cam_name, "rgb")[e], sim.get_camera_data(cam_name, "depth")[e])
@@ -206,4 +207,13 @@ def _place(x_offset: float, rot_xyzw) -> None:
 
 
 if __name__ == "__main__":
-    sys.exit(main())
+    # IsaacSim teardown deadlocks in carbOnPluginShutdown tearing down the
+    # omni.syntheticdata/OmniGraph render-product graph a TiledCamera creates (native
+    # py-spy stack), so a normal interpreter exit hangs until the parent's subprocess
+    # timeout SIGKILLs it -- turning a PASS (verdict already written to --result-file) into
+    # a spurious timeout failure. Hard-exit past the atexit teardown, mirroring
+    # behavior_assert / scene_spawn_assert. Rendering itself is fine; only exit hangs.
+    _rc = main()
+    sys.stdout.flush()
+    sys.stderr.flush()
+    os._exit(_rc)

src/holosoma/tests/simulators/camera_geometry_assert.py

@@ -25,6 +25,7 @@
 import argparse
 import dataclasses
 import math
+import os
 import sys
 
 if sys.path and sys.path[0].endswith("simulators"):
@@ -205,4 +206,13 @@ def _pin_robot() -> None:
 
 
 if __name__ == "__main__":
-    sys.exit(main())
+    # IsaacSim teardown deadlocks in carbOnPluginShutdown tearing down the
+    # omni.syntheticdata/OmniGraph render-product graph a TiledCamera creates (native
+    # py-spy stack), so a normal interpreter exit hangs until the parent's subprocess
+    # timeout SIGKILLs it -- turning a PASS (verdict already written to --result-file) into
+    # a spurious timeout failure. Hard-exit past the atexit teardown, mirroring
+    # behavior_assert / scene_spawn_assert. Rendering itself is fine; only exit hangs.
+    _rc = main()
+    sys.stdout.flush()
+    sys.stderr.flush()
+    os._exit(_rc)

src/holosoma/tests/simulators/camera_multi_assert.py

@@ -9,6 +9,7 @@
 
 import argparse
 import dataclasses
+import os
 import sys
 
 if sys.path and sys.path[0].endswith("simulators"):
@@ -107,4 +108,13 @@ def main() -> int:
 
 
 if __name__ == "__main__":
-    sys.exit(main())
+    # IsaacSim teardown deadlocks in carbOnPluginShutdown tearing down the
+    # omni.syntheticdata/OmniGraph render-product graph a TiledCamera creates (native
+    # py-spy stack), so a normal interpreter exit hangs until the parent's subprocess
+    # timeout SIGKILLs it -- turning a PASS (verdict already written to --result-file) into
+    # a spurious timeout failure. Hard-exit past the atexit teardown, mirroring
+    # behavior_assert / scene_spawn_assert. Rendering itself is fine; only exit hangs.
+    _rc = main()
+    sys.stdout.flush()
+    sys.stderr.flush()
+    os._exit(_rc)

src/holosoma/tests/simulators/camera_obs_assert.py

@@ -16,6 +16,7 @@
 
 import argparse
 import dataclasses
+import os
 import sys
 
 if sys.path and sys.path[0].endswith("simulators"):
@@ -175,4 +176,13 @@ def _obs():
 
 
 if __name__ == "__main__":
-    sys.exit(main())
+    # IsaacSim teardown deadlocks in carbOnPluginShutdown tearing down the
+    # omni.syntheticdata/OmniGraph render-product graph a TiledCamera creates (native
+    # py-spy stack), so a normal interpreter exit hangs until the parent's subprocess
+    # timeout SIGKILLs it -- turning a PASS (verdict already written to --result-file) into
+    # a spurious timeout failure. Hard-exit past the atexit teardown, mirroring
+    # behavior_assert / scene_spawn_assert. Rendering itself is fine; only exit hangs.
+    _rc = main()
+    sys.stdout.flush()
+    sys.stderr.flush()
+    os._exit(_rc)

src/holosoma/tests/simulators/camera_orientation_assert.py

@@ -15,6 +15,7 @@
 
 import argparse
 import dataclasses
+import os
 import sys
 
 if sys.path and sys.path[0].endswith("simulators"):
@@ -137,4 +138,13 @@ def main() -> int:
 
 
 if __name__ == "__main__":
-    sys.exit(main())
+    # IsaacSim teardown deadlocks in carbOnPluginShutdown tearing down the
+    # omni.syntheticdata/OmniGraph render-product graph a TiledCamera creates (native
+    # py-spy stack), so a normal interpreter exit hangs until the parent's subprocess
+    # timeout SIGKILLs it -- turning a PASS (verdict already written to --result-file) into
+    # a spurious timeout failure. Hard-exit past the atexit teardown, mirroring
+    # behavior_assert / scene_spawn_assert. Rendering itself is fine; only exit hangs.
+    _rc = main()
+    sys.stdout.flush()
+    sys.stderr.flush()
+    os._exit(_rc)

src/holosoma/tests/simulators/depth_assert.py

@@ -17,6 +17,7 @@
 import argparse
 import dataclasses
 import math
+import os
 import sys
 
 if sys.path and sys.path[0].endswith("simulators"):
@@ -184,4 +185,13 @@ def main() -> int:
 
 
 if __name__ == "__main__":
-    sys.exit(main())
+    # IsaacSim teardown deadlocks in carbOnPluginShutdown tearing down the
+    # omni.syntheticdata/OmniGraph render-product graph a TiledCamera creates (native
+    # py-spy stack), so a normal interpreter exit hangs until the parent's subprocess
+    # timeout SIGKILLs it -- turning a PASS (verdict already written to --result-file) into
+    # a spurious timeout failure. Hard-exit past the atexit teardown, mirroring
+    # behavior_assert / scene_spawn_assert. Rendering itself is fine; only exit hangs.
+    _rc = main()
+    sys.stdout.flush()
+    sys.stderr.flush()
+    os._exit(_rc)

src/holosoma/tests/simulators/world_camera_assert.py

@@ -21,6 +21,7 @@
 
 import argparse
 import dataclasses
+import os
 import sys
 
 if sys.path and sys.path[0].endswith("simulators"):
@@ -227,4 +228,13 @@ def _reds():
 
 
 if __name__ == "__main__":
-    sys.exit(main())
+    # IsaacSim teardown deadlocks in carbOnPluginShutdown tearing down the
+    # omni.syntheticdata/OmniGraph render-product graph a TiledCamera creates (native
+    # py-spy stack), so a normal interpreter exit hangs until the parent's subprocess
+    # timeout SIGKILLs it -- turning a PASS (verdict already written to --result-file) into
+    # a spurious timeout failure. Hard-exit past the atexit teardown, mirroring
+    # behavior_assert / scene_spawn_assert. Rendering itself is fine; only exit hangs.
+    _rc = main()
+    sys.stdout.flush()
+    sys.stderr.flush()
+    os._exit(_rc)