Fixed visual prims handling during texture randomization. #2476
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Signed-off-by: YunLiu <55491388+KumoLiu@users.noreply.github.com>
Signed-off-by: YunLiu <55491388+KumoLiu@users.noreply.github.com>
KumoLiu
requested review from
jsmith-bdai,
kellyguo11 and
Mayankm96
as code owners
| @@ -1188,8 +1188,25 @@ def __init__(self, cfg: EventTermCfg, env: ManagerBasedEnv): | |||
| body_names_regex = ".*" | |||
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| # create the affected prim path | |||
| # TODO: Remove the hard-coded "/visuals" part. | |||
| prim_path = f"{asset.cfg.prim_path}/{body_names_regex}/visuals" | |||
| # Check if the pattern with '/visuals' yields results when matching `body_names_regex`. | |||
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Can you please modify the unit test for this function to showcase the cases that's getting handled here?
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Hi @Mayankm96, Thank you for the suggestion. The change I'm implementing aims to handle cases where the visual prim path does not end with visuals. I've checked the assets used in the test cases, and all of them end with visuals.
In my use case, the table prim path I'm working with is something like /World/envs/env_./Table/.. I haven't found any assets that could show this benefit in the test file. Do you have any suggestions?
Thank you!
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@Mayankm96, Could you please take a look at the test I added? I mocked the find_matching_prim_paths function to return an empty list, allowing it to trigger the fallback behavior. This tests the scenario where the /visuals pattern doesn't match. thanks.
Signed-off-by: YunLiu <55491388+KumoLiu@users.noreply.github.com>
Description
Fixed potential issues in :func:
~isaaclab.envs.mdp.events.randomize_visual_texture_materialrelated to handling visual prims during texture randomization.Fixes # (issue)
Type of change
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pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there