Fix visual material randomizarion strategy

configs/gym/pour_water/gym_config.json

@@ -359,7 +359,8 @@
             "uid": "table",
             "shape": {
                 "shape_type": "Mesh",
-                "fpath": "CircleTableSimple/circle_table_simple.ply"
+                "fpath": "CircleTableSimple/circle_table_simple.ply",
+                "compute_uv": true
             },
             "attrs" : {
                 "mass": 10.0,
@@ -378,7 +379,8 @@
             "uid":"cup",
             "shape": {
                 "shape_type": "Mesh",
-                "fpath": "PaperCup/paper_cup.ply"
+                "fpath": "PaperCup/paper_cup.ply",
+                "compute_uv": true
             },
             "attrs" : {
                 "mass": 0.01,
@@ -397,7 +399,8 @@
             "uid":"bottle",
             "shape": {
                 "shape_type": "Mesh",
-                "fpath": "ScannedBottle/kashijia_processed.ply"
+                "fpath": "ScannedBottle/kashijia_processed.ply",
+                "compute_uv": true
             },
             "attrs" : {
                 "mass": 0.01,

configs/gym/pour_water/gym_config_simple.json

@@ -149,7 +149,7 @@
                 "interval_step": 10,
                 "params": {
                     "entity_cfg": {"uid": "table"},
-                    "random_texture_prob": 0.0,
+                    "random_texture_prob": 0.5,
                     "texture_path": "CocoBackground/coco",
                     "base_color_range": [[0.2, 0.2, 0.2], [1.0, 1.0, 1.0]]
                 }
@@ -160,7 +160,7 @@
                 "interval_step": 10,
                 "params": {
                     "entity_cfg": {"uid": "cup"},
-                    "random_texture_prob": 0.0,
+                    "random_texture_prob": 0.5,
                     "texture_path": "CocoBackground/coco",
                     "base_color_range": [[0.2, 0.2, 0.2], [1.0, 1.0, 1.0]]
                 }
@@ -171,7 +171,7 @@
                 "interval_step": 10,
                 "params": {
                     "entity_cfg": {"uid": "bottle"},
-                    "random_texture_prob": 0.0,
+                    "random_texture_prob": 0.5,
                     "texture_path": "CocoBackground/coco",
                     "base_color_range": [[0.2, 0.2, 0.2], [1.0, 1.0, 1.0]]
                 }

embodichain/lab/gym/envs/managers/randomization/__init__.py

@@ -17,7 +17,7 @@
 from .physics import *  # noqa: F401, F403
 from .visual import *  # noqa: F401, F403
 from .spatial import *  # noqa: F401, F403
-from .scale import *  # noqa: F401, F403
+from .geometry import *  # noqa: F401, F403
 
 """
 Randomization are all implemented as Event functors.

embodichain/lab/gym/envs/managers/randomization/visual.py

@@ -489,6 +489,24 @@ def __init__(self, cfg: FunctorCfg, env: EmbodiedEnv):
                 self.entity_cfg.link_names = link_names
                 self.entity.set_visual_material(mat, link_names=link_names)
 
+    @staticmethod
+    def gen_random_base_color_texture(width: int, height: int) -> torch.Tensor:
+        """Generate a random base color texture.
+
+        Args:
+            width: The width of the texture.
+            height: The height of the texture.
+
+        Returns:
+            A torch tensor representing the random base color texture with shape (height, width, 4).
+        """
+        # Generate random RGB values
+        rgb = torch.ones((height, width, 3), dtype=torch.float32)
+        rgb *= torch.rand((1, 1, 3), dtype=torch.float32)
+        rgba = torch.cat((rgb, torch.ones((height, width, 1))), dim=2)
+        rgba = (rgba * 255).to(torch.uint8)
+        return rgba
+
     def _randomize_texture(self, mat_inst: VisualMaterialInst) -> None:
         if len(self.textures) > 0:
             # Randomly select a texture from the preloaded textures
@@ -502,18 +520,22 @@ def _randomize_mat_inst(
         random_texture_prob: float,
         idx: int = 0,
     ) -> None:
-
         # randomize texture or base color based on the probability.
         if random.random() < random_texture_prob and len(self.textures) != 0:
-            self._randomize_texture(mat_inst)
-        else:
-            # randomize the material instance pbr properties based on the plan.
             for key, value in plan.items():
                 if key == "base_color":
                     mat_inst.set_base_color(value[idx].tolist())
                 else:
                     getattr(mat_inst, f"set_{key}")(value[idx].item())
 
+            self._randomize_texture(mat_inst)
+        else:
+            # set a random base color instead.
+            random_color_texture = (
+                randomize_visual_material.gen_random_base_color_texture(2, 2)
+            )
+            mat_inst.set_base_color_texture(texture_data=random_color_texture)
+
     def __call__(
         self,
         env: EmbodiedEnv,

embodichain/lab/gym/utils/gym_utils.py

@@ -437,8 +437,6 @@ class ComponentCfg:
     env_cfg.sim_steps_per_control = config["env"].get("sim_steps_per_control", 4)
     env_cfg.extensions = deepcopy(config.get("env", {}).get("extensions", {}))
 
-    # TODO: support more env events, eg, grasp pose generation, mesh preprocessing, etc.
-
     env_cfg.dataset = ComponentCfg()
     if "dataset" in config["env"]:
         # Define modules to search for dataset functions
@@ -483,7 +481,6 @@ class ComponentCfg:
             "embodichain.lab.gym.envs.managers.randomization",
             "embodichain.lab.gym.envs.managers.record",
             "embodichain.lab.gym.envs.managers.events",
-            "embodichain.lab.gym.envs.managers.real2sim",
         ]
 
         # parser env events config

embodichain/lab/sim/sim_manager.py

@@ -158,7 +158,6 @@ class SimulationManager:
             - physics simulation management, eg. time step, manual update, etc.
             - interactive control via gizmo and window callbacks events.
 
-
     Args:
         sim_config (SimulationManagerCfg, optional): simulation configuration. Defaults to SimulationManagerCfg().
     """