[Question] randomize_visual_texture_material.__init__() got an unexpected keyword argument 'asset_cfg'

[shiven2001]

Hello, I am using Isaac Sim 4.5.0.

I want to change the texture of one of my assets in my scene and I saw that I can use randomize_visual_texture_material for that. But I don't understand the implementation. The asset is as follows:
`

• {ENV_REGEX_NS}
  • environment
    • wall (xform with rigidbody)
      • wall (plane that I want to apply texture)
        • visuals (folder)
          • wall (material for default use for wall plane which uses a .png file)

I want that on reset, the png file changes for the material (I have 50 png files and I want it to be random)

I think randomize_visual_texture_material can do this but I tried adding this to my interactive scene:

  # wall
  wall = RigidObjectCfg(
      prim_path="{ENV_REGEX_NS}/environment/wall",
      spawn=None,
      init_state=RigidObjectCfg.InitialStateCfg(),
  )

and my event cfg as:

  # Event cfg
  @configclass
  class EventCfg:
      """Configuration for events with fixed orientation."""
  
      reset_scene = EventTerm(func=mdp.reset_scene_to_default, mode="reset")
  
      change_plane_texture = EventTerm(
          func=mdp.randomize_visual_texture_material,
          mode="reset",
          params={
              "asset_cfg": SceneEntityCfg("wall"),
              "texture_paths": TEXTURE_FILES,
              "event_name": "randomize_wall_texture",
              "texture_rotation": (0.0, 0.0),  # No rotation (in radians)
          },
      )

where

  # Texture directory
  TEXTURE_DIR = os.path.join(script_dir, "usds/synthetic/")
  # Get all PNG files
  TEXTURE_FILES = glob.glob(os.path.join(TEXTURE_DIR, "*.png"))
  sys.path.append(script_dir)

but it gives error:
TypeError: randomize_visual_texture_material.init() got an unexpected
keyword argument 'asset_cfg'

[RandomOakForest]

Thanks for posting this. A similar issue was reported in #2388. Would the workarounds in the comments work in your case?

[shiven2001]

Hi, I got it working. Thanks, since I didn't see an implementation of it in IsaacLab, I will share my code here for future reference for others:

  import torch
  from isaaclab.envs import ManagerBasedEnv
  from isaaclab.managers import SceneEntityCfg as SceneEntityCfg
  import os
  import sys
  import logging
  import numpy as np
  import random
  import omni
  import isaaclab.sim as sim_utils
  from isaaclab.assets import RigidObject, RigidObjectCollection
  import omni.usd
  from isaacsim.core.utils.extensions import enable_extension
  from pxr import Gf, Sdf, UsdGeom, Vt
  import carb
  from pxr import UsdShade, Sdf
  
  # Set up logging
  logging.basicConfig(level=logging.INFO)
  logger = logging.getLogger(__name__)
  
  script_dir = os.path.dirname(os.path.abspath(__file__))
  sys.path.append(script_dir)
  import math
  
  
  def randomize_texture(
      env: ManagerBasedEnv,
      env_ids: torch.Tensor,
      asset_cfg: SceneEntityCfg,
      event_name: str,
      texture_paths: list[str],
      texture_rotation: tuple[float, float] = (0.0, 0.0),
  ):
      asset = env.scene[asset_cfg.name]
      stage = env.scene.stage
  
      for env_id in env_ids:
          prim_path = f"{env.scene.env_ns}/env_{env_id}/environment/{asset_cfg.name}"
          mtl_prim_path = f"{env.scene.env_ns}/env_{env_id}/environment/{asset_cfg.name}/{asset_cfg.name}/visuals/{asset_cfg.name}_material"
          prim = stage.GetPrimAtPath(prim_path)
          mtl_prim = stage.GetPrimAtPath(mtl_prim_path)
  
          # Randomly select a texture from the provided list
          selected_texture = random.choice(texture_paths)
  
          omni.usd.create_material_input(
              mtl_prim,
              "diffuse_texture",
              selected_texture,
              Sdf.ValueTypeNames.Asset,
          )

I am very curious though, is the replicator not compatible with IsaacLab? I even made a custom function based on randomize_visual_texture_material which doesn't have the TypeError: randomize_visual_texture_material.init() got an unexpected
keyword argument 'asset_cfg' problem and runs without any errors, it still didn't do anything when I called functions like

rep.randomizer.texture( ) or rep.randomizer.color( )...

It would be insanely helpful if replicator was compatible with isaaclab... is my implementation wrong or something? I had this:

  import torch
  from isaaclab.envs import ManagerBasedEnv
  from isaaclab.managers import SceneEntityCfg as SceneEntityCfg
  import os
  import sys
  import logging
  import numpy as np
  import random
  import omni
  import isaaclab.sim as sim_utils
  from isaaclab.assets import RigidObject, RigidObjectCollection
  import omni.usd
  from isaacsim.core.utils.extensions import enable_extension
  from pxr import Gf, Sdf, UsdGeom, Vt
  import carb
  
  # Set up logging
  logging.basicConfig(level=logging.INFO)
  logger = logging.getLogger(__name__)
  
  script_dir = os.path.dirname(os.path.abspath(__file__))
  sys.path.append(script_dir)
  import math
  
  
  def randomize_texture(
      env: ManagerBasedEnv,
      env_ids: torch.Tensor,
      asset_cfg: SceneEntityCfg,
      event_name: str,
      texture_paths: list[str],
      texture_rotation: tuple[float, float] = (0.0, 0.0),
  ):
      asset = env.scene[asset_cfg.name]
      enable_extension("omni.replicator.core")
      import omni.replicator.core as rep
  
      if env.cfg.scene.replicate_physics:
          raise RuntimeError(
              "Unable to randomize visual texture material with scene replication enabled."
              " For stable USD-level randomization, please disable scene replication"
              " by setting 'replicate_physics' to False in 'InteractiveSceneCfg'."
          )
  
      stage = env.scene.stage
  
      for env_id in env_ids:
          prim_path = f"{env.scene.env_ns}/env_{env_id}/environment/{asset_cfg.name}"
          prim = stage.GetPrimAtPath(prim_path)
          if not prim.IsValid():
              print(f"Invalid prim at path {prim_path}")
              continue
  
          texture_rotation = tuple(math.degrees(angle) for angle in texture_rotation)
          body_names = asset_cfg.body_names
          if isinstance(body_names, str):
              body_names_regex = body_names
          elif isinstance(body_names, list):
              body_names_regex = "|".join(body_names)
          else:
              body_names_regex = ".*"
  
          asset_main_prim_path = (
              f"{env.scene.env_ns}/env_{env_id}/environment/{asset_cfg.name}"
          )
          pattern_with_visuals = f"{asset_main_prim_path}/{body_names_regex}/visuals"
          matching_prims = sim_utils.find_matching_prim_paths(pattern_with_visuals)
  
          carb.log_info(f"Matched prims for {pattern_with_visuals}: {matching_prims}")
          if matching_prims:
              prim_path = pattern_with_visuals
          else:
              prim_path = f"{asset_main_prim_path}/.*"
              carb.log_info(
                  f"Pattern '{pattern_with_visuals}' found no prims. Falling back to '{prim_path}' for texture randomization."
              )
  
          # Create the omni-graph node for the randomization term
          def rep_texture_randomization():
              prims_group = rep.get.prims(path_pattern=prim_path)
  
              with prims_group:
                  rep.randomizer.texture(
                      textures=texture_paths,
                      project_uvw=True,
                      texture_rotate=rep.distribution.uniform(*texture_rotation),
                  )
              return prims_group.node
  
          # Register the event to the replicator
          with rep.trigger.on_custom_event(event_name=event_name):
              rep_texture_randomization()

[RandomOakForest]

This is great to hear. I'll move this post into our Discussions for follow up. Thank you for sharing your solution.