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b/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-newton_renderer-rgb.png differ diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-newton_renderer-rgba.png b/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-newton_renderer-rgba.png index ba8907a13c3b..8772c6f51e42 100644 Binary files a/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-newton_renderer-rgba.png and b/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-newton_renderer-rgba.png differ diff --git a/source/isaaclab_tasks/test/test_rendering_correctness.py b/source/isaaclab_tasks/test/test_rendering_correctness.py index 3d3377901916..24ee5af0fac8 100644 --- a/source/isaaclab_tasks/test/test_rendering_correctness.py +++ b/source/isaaclab_tasks/test/test_rendering_correctness.py @@ -52,6 +52,15 @@ # _PIXEL_L2_NORM_DIFFERENCE_THRESHOLD = 10.0 +# The max percentage of pixels allowed to differ. If the percentage exceeds this value, the test will fail. +# The value is set case by case based on the screen space taken up by the env in camera output images. It +# needs to be large enough to tolerate minor rendering noise while small enough to catch unexpected changes. +_MAX_DIFFERENT_PIXELS_PERCENTAGE_BY_ENV_NAME = { + "cartpole": 1.0, + "shadow_hand": 3.0, + "dexsuite_kuka": 4.0, +} + _OVRTX_DISABLED = pytest.mark.skip( reason="OVRTX is optional and experimental feature and temporarily is excluded from testing." ) @@ -66,9 +75,6 @@ # "img_result_path": str | None, "img_golden_path": str | None} _COMPARISON_SCORES: list[dict] = [] -# Environment seed. -_ENV_SEED = 42 - # --------------------------------------------------------------------------- # Fixtures @@ -643,7 +649,6 @@ def shadow_hand_env(request): env_cfg = _apply_overrides_to_env_cfg(env_cfg, override_args) env_cfg.scene.num_envs = 4 - env_cfg.seed = _ENV_SEED if data_type == "depth": # Disable CNN forward pass as it cannot be meaningfully trained from depth alone and will raise a ValueError. @@ -652,7 +657,6 @@ def shadow_hand_env(request): env = None try: env = ShadowHandVisionEnv(env_cfg) - env.reset(seed=_ENV_SEED) yield physics_backend, renderer, data_type, env finally: if env is not None: @@ -662,13 +666,13 @@ def shadow_hand_env(request): def test_shadow_hand(shadow_hand_env): """Camera output must contain at least one non-zero pixel (Shadow Hand vision env).""" physics_backend, renderer, _, env = shadow_hand_env - + test_name = "shadow_hand" _validate_camera_outputs( - "shadow_hand", + test_name, physics_backend, renderer, env._tiled_camera.data.output, - max_different_pixels_percentage=8.0, + max_different_pixels_percentage=_MAX_DIFFERENT_PIXELS_PERCENTAGE_BY_ENV_NAME[test_name], ) @@ -691,12 +695,10 @@ def cartpole_env(request): env_cfg = _apply_overrides_to_env_cfg(env_cfg, override_args) env_cfg.scene.num_envs = 4 - env_cfg.seed = _ENV_SEED env = None try: env = CartpoleCameraEnv(env_cfg) - env.reset(seed=_ENV_SEED) yield physics_backend, renderer, data_type, env finally: if env is not None: @@ -706,13 +708,13 @@ def cartpole_env(request): def test_cartpole(cartpole_env): """Camera output must contain at least one non-zero pixel (Cartpole camera env).""" physics_backend, renderer, _, env = cartpole_env - + test_name = "cartpole" _validate_camera_outputs( - "cartpole", + test_name, physics_backend, renderer, env._tiled_camera.data.output, - max_different_pixels_percentage=2.0, + max_different_pixels_percentage=_MAX_DIFFERENT_PIXELS_PERCENTAGE_BY_ENV_NAME[test_name], ) @@ -739,12 +741,10 @@ def dexsuite_kuka_allegro_lift_env(request): env_cfg = _apply_overrides_to_env_cfg(env_cfg, override_args) env_cfg.scene.num_envs = 4 - env_cfg.seed = _ENV_SEED env = None try: env = ManagerBasedRLEnv(env_cfg) - env.reset(seed=_ENV_SEED) yield physics_backend, renderer, data_type, env finally: if env is not None: @@ -754,13 +754,13 @@ def dexsuite_kuka_allegro_lift_env(request): def test_dexsuite_kuka_allegro_lift(dexsuite_kuka_allegro_lift_env): """Camera output must contain at least one non-zero pixel (Dexsuite Kuka-Allegro Lift, single camera).""" physics_backend, renderer, _, env = dexsuite_kuka_allegro_lift_env - + test_name = "dexsuite_kuka" _validate_camera_outputs( - "dexsuite_kuka", + test_name, physics_backend, renderer, env.scene.sensors["base_camera"].data.output, - max_different_pixels_percentage=10.0, + max_different_pixels_percentage=_MAX_DIFFERENT_PIXELS_PERCENTAGE_BY_ENV_NAME[test_name], ) @@ -769,25 +769,25 @@ def test_dexsuite_kuka_allegro_lift(dexsuite_kuka_allegro_lift_env): # --------------------------------------------------------------------------- # Task IDs that expose camera/tiled_camera image observations; each is validated for non-blank rendering. +# The max different pixels percentage is set based on the screen space taken up by the env. _RENDER_CORRECTNESS_TASK_IDS = [ - "Isaac-Cartpole-Albedo-Camera-Direct-v0", - "Isaac-Cartpole-Camera-Presets-Direct-v0", - "Isaac-Cartpole-Depth-Camera-Direct-v0", - "Isaac-Cartpole-RGB-Camera-Direct-v0", - "Isaac-Cartpole-SimpleShading-Constant-Camera-Direct-v0", - "Isaac-Cartpole-SimpleShading-Diffuse-Camera-Direct-v0", - "Isaac-Cartpole-SimpleShading-Full-Camera-Direct-v0", - "Isaac-Repose-Cube-Shadow-Vision-Direct-v0", + ("Isaac-Cartpole-Albedo-Camera-Direct-v0", "cartpole"), + ("Isaac-Cartpole-Camera-Presets-Direct-v0", "cartpole"), + ("Isaac-Cartpole-Depth-Camera-Direct-v0", "cartpole"), + ("Isaac-Cartpole-RGB-Camera-Direct-v0", "cartpole"), + ("Isaac-Cartpole-SimpleShading-Constant-Camera-Direct-v0", "cartpole"), + ("Isaac-Cartpole-SimpleShading-Diffuse-Camera-Direct-v0", "cartpole"), + ("Isaac-Cartpole-SimpleShading-Full-Camera-Direct-v0", "cartpole"), + ("Isaac-Repose-Cube-Shadow-Vision-Direct-v0", "shadow_hand"), ] -@pytest.mark.parametrize("task_id", _RENDER_CORRECTNESS_TASK_IDS) -def test_registered_tasks(task_id): +@pytest.mark.parametrize("task_id, env_name", _RENDER_CORRECTNESS_TASK_IDS) +def test_registered_tasks(task_id, env_name): """Camera output must be non-empty for each registered task with camera-based observations.""" env = None try: env_cfg = parse_env_cfg(task_id, num_envs=4) - env_cfg.seed = _ENV_SEED env = gym.make(task_id, cfg=env_cfg) unwrapped: Any = env.unwrapped @@ -795,8 +795,6 @@ def test_registered_tasks(task_id): if sim is not None: sim._app_control_on_stop_handle = None - env.reset(seed=_ENV_SEED) - camera_outputs_nested_dict = _collect_camera_outputs(env) num_camera_outputs = len(camera_outputs_nested_dict) assert num_camera_outputs == 1, f"[{task_id}] Expected 1 camera output, got {num_camera_outputs}." @@ -808,7 +806,7 @@ def test_registered_tasks(task_id): "default_physics", "default_renderer", camera_outputs, - max_different_pixels_percentage=5.0, + max_different_pixels_percentage=_MAX_DIFFERENT_PIXELS_PERCENTAGE_BY_ENV_NAME[env_name], ) finally: if env is not None: