Test and check for texture randomization #1705

hapatel-bdai · 2025-01-21T19:03:26Z

Description

Added a visual test of the texture randomization functionality working

Type of change

Created check_texture_randomization.py which has a visual test to make sure the texture randomization functionality works as intended, added some print statements for user clarity on when new random textures are being applied
Added a Warning check for the replicate physics variable in randomize_visual_texture_material() to assure users have the bool set to False, which is ideal for the intended use case

Checklist

I have run the pre-commit checks with ./isaaclab.sh --format
I have made corresponding changes to the documentation
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

Mayankm96 · 2025-01-25T14:03:19Z

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py

+
+        # check to make sure replicate_physics is set to False, else raise warning
+        if replicate_physics:
+            raise Warning("replicate_physics is set to True, meaning all environments will have same textures applied.")


This is never desired. You should throw a runtime error and tell the user to set this parameter as false in the InteractiveSceneCfg

Do you mean we should change this to an error just in here? Or do you mean we should move the error to within the InteractiveSceneCfg?

Mayankm96 · 2025-01-25T14:03:56Z

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py

@@ -233,6 +236,7 @@ def __call__(
        env_ids: torch.Tensor,
        event_name: str,
        asset_cfg: SceneEntityCfg,
+        replicate_physics: bool,


Why is this parsed here? You should get it from the scene, right?

fixed, now referenced directly from the scene

Mayankm96 · 2025-01-25T14:04:57Z

source/extensions/omni.isaac.lab/test/envs/check_texture_randomization.py

+        )
+
+
+def main():


This isn't a unit test. We should do it properly to check that texture is applied on the prim (besides visual inspection)?

The initial idea was to check the textures being applied changed on reset for the prims in the scene, however I was unable to find a way to directly access the albedo map information for each prim. If you have a way to access this information or a different approach I can convert this into a unit test.

@hapatel-bdai let's take a look at this and figure out how to verify the textures for a little today / tomorrow

If we can't figure out how to check that the correct texture was applied, we can have a test_texture_randomization.py that is similar to this check script (only it needs to terminate). This will at least give us confidence that this codepath doesn't throw exceptions

jsmith-bdai

Overall, LGTM, we just need to figure out the unit test part. Great work!

jsmith-bdai · 2025-01-27T16:29:29Z

CONTRIBUTORS.md

@@ -48,6 +48,7 @@ Guidelines for modifications:
 * Gary Lvov
 * Giulio Romualdi
 * Haoran Zhou
+* Harsh Patel


jsmith-bdai · 2025-01-27T16:34:25Z

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py

@@ -196,6 +196,10 @@ def __init__(self, cfg: EventTermCfg, env: ManagerBasedEnv):
        event_name = cfg.params.get("event_name")
        texture_rotation = cfg.params.get("texture_rotation", (0.0, 0.0))

+        # check to make sure replicate_physics is set to False, else raise warning
+        if env.cfg.scene.replicate_physics:
+            raise Warning("replicate_physics is set to True, meaning all environments will have same textures applied.")


I think what Mayank is suggesting is:

Suggested change

raise Warning("replicate_physics is set to True, meaning all environments will have same textures applied.")

raise ValueError("Unable to randomize visual texture material - ensure InteractiveSceneCfg's replicate_physics parameter is set to False.")

I don't think we can move the error the InteractiveSceneCfg, because at that point we don't know the user wants to do scene randomization

Also, TIL about python's Warning class?!?

jsmith-bdai · 2025-01-27T16:35:27Z

source/extensions/omni.isaac.lab/test/envs/check_texture_randomization.py

+# add argparse arguments
+parser = argparse.ArgumentParser(description="Check applying texture randomization to the cartpole scene.")
+parser.add_argument("--num_envs", type=int, default=16, help="Number of environments to spawn.")
+parser.add_argument(


NIT: I might mention here that this should be set to False, but is left as a CLI arg for testing purposes?

jsmith-bdai · 2025-01-27T17:16:45Z

source/extensions/omni.isaac.lab/test/envs/check_texture_randomization.py

+parser = argparse.ArgumentParser(description="Check applying texture randomization to the cartpole scene.")
+parser.add_argument("--num_envs", type=int, default=16, help="Number of environments to spawn.")
+parser.add_argument(
+    "--replicate_physics", type=bool, default=False, help="Replicates physics properties across all environments."


Suggested change

"--replicate_physics", type=bool, default=False, help="Replicates physics properties across all environments."

"--replicate_physics", type=bool, default=False, help="Replicates physics properties across all environments. For texture randomization, it must be set to False."

Made the changes suggested above, we can go over them and the unit test situation tomorrow :)

jsmith-bdai · 2025-01-27T17:19:25Z

source/extensions/omni.isaac.lab/test/envs/check_texture_randomization.py

+        )
+
+
+def main():


@hapatel-bdai let's take a look at this and figure out how to verify the textures for a little today / tomorrow

If we can't figure out how to check that the correct texture was applied, we can have a test_texture_randomization.py that is similar to this check script (only it needs to terminate). This will at least give us confidence that this codepath doesn't throw exceptions

hapatel-bdai added 4 commits January 21, 2025 18:43

added extra light source for clear texture visibility

735e19b

cleaned up code and added replaice_physics checker warning

8bd9412

formatting changes

39f96a4

formatting and contributor changes

39f35f3

hapatel-bdai requested a review from jtigue-bdai January 21, 2025 19:03

hapatel-bdai self-assigned this Jan 21, 2025

hapatel-bdai requested review from jsmith-bdai, kellyguo11 and Mayankm96 as code owners January 21, 2025 19:03

Mayankm96 reviewed Jan 25, 2025

View reviewed changes

replicate physics pass through fix

e72b07a

jsmith-bdai approved these changes Jan 27, 2025

View reviewed changes

hapatel-bdai and others added 3 commits January 27, 2025 17:49

value error fix and additional comments for details

25c2900

added formal test for texture randomization

b20d49f

Update check script, add enable_cameras, working test

5693fa9

hapatel-bdai requested a review from Mayankm96 February 3, 2025 17:55

hapatel-bdai changed the title ~~Hpatel/feat/texture randomization~~ Test and check for texture randomization Feb 3, 2025

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Test and check for texture randomization #1705

Test and check for texture randomization #1705

hapatel-bdai commented Jan 21, 2025

Mayankm96 Jan 25, 2025

hapatel-bdai Jan 27, 2025

Mayankm96 Jan 25, 2025

hapatel-bdai Jan 27, 2025

Mayankm96 Jan 25, 2025

hapatel-bdai Jan 27, 2025

jsmith-bdai Jan 27, 2025

jsmith-bdai left a comment

jsmith-bdai Jan 27, 2025

jsmith-bdai Jan 27, 2025

jsmith-bdai Jan 27, 2025

jsmith-bdai Jan 27, 2025

hapatel-bdai Jan 27, 2025

jsmith-bdai Jan 27, 2025

	raise Warning("replicate_physics is set to True, meaning all environments will have same textures applied.")
	raise ValueError("Unable to randomize visual texture material - ensure InteractiveSceneCfg's replicate_physics parameter is set to False.")

	"--replicate_physics", type=bool, default=False, help="Replicates physics properties across all environments."
	"--replicate_physics", type=bool, default=False, help="Replicates physics properties across all environments. For texture randomization, it must be set to False."

Test and check for texture randomization #1705

Are you sure you want to change the base?

Test and check for texture randomization #1705

Conversation

hapatel-bdai commented Jan 21, 2025

Description

Type of change

Checklist

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

jsmith-bdai left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment