Hpatel/feat/texture randomization #1705
Conversation
hapatel-bdai
requested review from
jsmith-bdai,
kellyguo11 and
Mayankm96
as code owners
|
|
||
| # 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.") |
There was a problem hiding this comment.
This is never desired. You should throw a runtime error and tell the user to set this parameter as false in the InteractiveSceneCfg
There was a problem hiding this comment.
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?
| @@ -233,6 +236,7 @@ def __call__( | |||
| env_ids: torch.Tensor, | |||
| event_name: str, | |||
| asset_cfg: SceneEntityCfg, | |||
| replicate_physics: bool, | |||
There was a problem hiding this comment.
Why is this parsed here? You should get it from the scene, right?
There was a problem hiding this comment.
fixed, now referenced directly from the scene
| ) | ||
|
|
||
|
|
||
| def main(): |
There was a problem hiding this comment.
This isn't a unit test. We should do it properly to check that texture is applied on the prim (besides visual inspection)?
There was a problem hiding this comment.
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.
Description
Added a visual test of the texture randomization functionality working
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there