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Add domain randomization #5

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107 changes: 107 additions & 0 deletions python/bricksim/cli/assemble_brick_expert.py
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Original file line number Diff line number Diff line change
Expand Up @@ -90,6 +90,26 @@ def build_argument_parser() -> argparse.ArgumentParser:
action="store_true",
help="Show assembly goal marker visualizer.",
)
parser.add_argument(
"--randomize-dome-light",
action="store_true",
help="Randomize dome-light HDR texture, intensity, and yaw on reset.",
)
parser.add_argument(
"--randomize-table-material",
action="store_true",
help="Randomize table MDL material on reset.",
)
parser.add_argument(
"--randomize-background-material",
action="store_true",
help="Randomize ground/background MDL material on reset.",
)
parser.add_argument(
"--randomize-scene-background",
action="store_true",
help="Randomize visual-only factory/kitchen/outdoor background presets.",
)
return parser


Expand Down Expand Up @@ -177,6 +197,7 @@ def main() -> int:
simulation_app = app_launcher.app

from isaaclab.envs import ManagerBasedRLEnv
from isaaclab.managers import EventTermCfg

from bricksim.envs.assemble_brick.env import (
AssembleBrickBaseEnvCfg,
Expand All @@ -185,6 +206,12 @@ def main() -> int:
AssembleBrickRGBEnvCfg,
)
from bricksim.envs.assemble_brick.expert import AssembleBrickExpert
from bricksim.mdp.events import (
randomize_dome_light_viral,
randomize_global_material_viral,
randomize_scene_background_viral,
randomize_table_material_viral,
)

env_cfg: AssembleBrickBaseEnvCfg
if args_cli.obs_mode == "state":
Expand All @@ -201,6 +228,86 @@ def main() -> int:
env_cfg.commands.assembly_goal.goals = args_cli.goals
if args_cli.show_goals:
env_cfg.commands.assembly_goal.debug_vis = True
if args_cli.randomize_dome_light:
env_cfg.events.randomize_dome_light_viral = EventTermCfg(
func=randomize_dome_light_viral,
mode="reset",
params={
"prim_path": "/World/light",
"texture_folder_paths": (
"https://omniverse-content-production.s3-us-west-2.amazonaws.com/"
"Assets/Isaac/4.5/NVIDIA/Assets/Skies/Indoor/",
"https://omniverse-content-production.s3-us-west-2.amazonaws.com/"
"Assets/Isaac/4.5/NVIDIA/Assets/Skies/Clear/",
"https://omniverse-content-production.s3-us-west-2.amazonaws.com/"
"Assets/Isaac/4.5/NVIDIA/Assets/Skies/Cloudy/",
"https://omniverse-content-production.s3-us-west-2.amazonaws.com/"
"Assets/Isaac/4.5/NVIDIA/Assets/Skies/Night/",
"https://omniverse-content-production.s3-us-west-2.amazonaws.com/"
"Assets/Isaac/4.5/NVIDIA/Assets/Skies/Studio/",
"https://omniverse-content-production.s3-us-west-2.amazonaws.com/"
"Assets/Isaac/4.5/NVIDIA/Environments/2024_1/DomeLights/Clear/",
"https://omniverse-content-production.s3-us-west-2.amazonaws.com/"
"Assets/Isaac/4.5/NVIDIA/Environments/2024_1/DomeLights/Cloudy/",
"https://omniverse-content-production.s3-us-west-2.amazonaws.com/"
"Assets/Isaac/4.5/NVIDIA/Environments/2024_1/DomeLights/Indoor/",
),
"intensity_range": (800.0, 2000.0),
"yaw_range": (-3.142, 3.142),
},
)
print("[INFO]: VIRAL-style dome-light randomization enabled")
if args_cli.randomize_table_material:
env_cfg.events.randomize_table_material_viral = EventTermCfg(
func=randomize_table_material_viral,
mode="reset",
params={
"env_relative_prim_paths": ("Table",),
"material_root_path": "/World/Looks/TableVisualRandomization",
"material_folder_paths": (
"https://omniverse-content-production.s3-us-west-2.amazonaws.com/"
"Assets/Isaac/4.5/NVIDIA/Materials/Base/Wood/",
),
"material_name_prefix": "TableMaterial",
},
)
print("[INFO]: VIRAL-style table material randomization enabled")
if args_cli.randomize_background_material:
env_cfg.events.randomize_background_material_viral = EventTermCfg(
func=randomize_global_material_viral,
mode="reset",
params={
"prim_paths": ("/World/GroundPlane",),
"material_root_path": "/World/Looks/BackgroundVisualRandomization",
"material_folder_paths": (
"https://omniverse-content-production.s3-us-west-2.amazonaws.com/"
"Assets/Isaac/4.5/NVIDIA/Materials/Base/Carpet/",
"https://omniverse-content-production.s3-us-west-2.amazonaws.com/"
"Assets/Isaac/4.5/NVIDIA/Materials/Base/Masonry/",
"https://omniverse-content-production.s3-us-west-2.amazonaws.com/"
"Assets/Isaac/4.5/NVIDIA/Materials/Base/Natural/",
"https://omniverse-content-production.s3-us-west-2.amazonaws.com/"
"Assets/Isaac/4.5/NVIDIA/Materials/Base/Stone/",
"https://omniverse-content-production.s3-us-west-2.amazonaws.com/"
"Assets/Isaac/4.5/NVIDIA/Materials/Base/Wall_Board/",
"https://omniverse-content-production.s3-us-west-2.amazonaws.com/"
"Assets/Isaac/4.5/NVIDIA/Materials/Base/Wood/",
),
"material_name_prefix": "BackgroundMaterial",
"label": "background",
},
)
print("[INFO]: VIRAL-style background material randomization enabled")
if args_cli.randomize_scene_background:
env_cfg.events.randomize_scene_background_viral = EventTermCfg(
func=randomize_scene_background_viral,
mode="reset",
params={
"root_path": "/World/VisualSceneBackground",
"preset_names": ("factory", "kitchen", "outdoor"),
},
)
print("[INFO]: VIRAL-style scene background randomization enabled")
env = ManagerBasedRLEnv(cfg=env_cfg)
expert = AssembleBrickExpert()

Expand Down
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