Cherry-pick Antoine PRs to release/3.0.0-beta2

.github/workflows/build.yaml

@@ -701,7 +701,7 @@ 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 ovphysx"
+        extra-pip-packages: "ovrtx ovphysx==0.4.13"
         include-files: "test_rendering_cartpole_kitless.py,test_rendering_dexsuite_kuka_kitless.py,test_rendering_shadow_hand_kitless.py"
         container-name: isaac-lab-rendering-correctness-kitless-test
   #endregion

.github/workflows/daily-compatibility.yml

@@ -111,7 +111,7 @@ jobs:
         image-tag: ${{ env.DOCKER_IMAGE_TAG }}
         pytest-options: ""
         filter-pattern: "isaaclab_tasks"
-        extra-pip-packages: "ovrtx ovphysx"
+        extra-pip-packages: "ovrtx ovphysx==0.4.13"
 
     - name: Copy All Test Results from IsaacLab Tasks Container
       run: |

scripts/benchmarks/benchmark_startup.py

@@ -233,7 +233,8 @@ def main(
         first_step_time_begin = time.perf_counter_ns()
         first_step_profile.enable()
         try:
-            env.step(actions)
+            with torch.inference_mode():
+                env.step(actions)
         finally:
             first_step_profile.disable()