From ae6e4d6dd83ece7487fdf05bd9c67ac4b8f1908f Mon Sep 17 00:00:00 2001 From: yuecideng Date: Fri, 23 Oct 2026 00:16:57 +0800 Subject: [PATCH 01/10] fix(sim)!: unify visual material identity and lifecycle Share PBR lowering and definition identity between runtime creation and Spawn, preserve native instance state, and restore assignments across reset and topology rebuilds. Bound randomization resources and isolate selected environments, with rc1 CPU/native regression coverage and an acceptance plan. BREAKING CHANGE: material color reads return RGB; unnamed materials no longer share default_mat; repeated instance creation preserves state; shared material randomization requires all environments. --- agent_context/MAP.yaml | 5 +- .../topics/randomization/randomization.md | 7 + .../topics/simulation-system/lifecycle.md | 3 +- .../topics/simulation-system/materials.md | 55 +++ .../simulation-system/simulation-system.md | 1 + .../visual-material-acceptance.md | 130 ++++++ .../gym/envs/managers/randomization/visual.py | 148 ++++--- embodichain/lab/sim/material.py | 281 +++++++++---- embodichain/lab/sim/objects/articulation.py | 15 +- embodichain/lab/sim/objects/rigid_object.py | 11 +- .../lab/sim/objects/rigid_object_group.py | 13 +- embodichain/lab/sim/sim_manager.py | 36 +- embodichain/lab/sim/spawn/descriptors.py | 33 +- embodichain/lab/sim/spawn/scene.py | 67 ++- .../test_randomize_visual_material.py | 121 +++++- tests/sim/objects/test_articulation.py | 18 +- .../test_articulation_reuse_material.py | 1 + .../test_asset_material_initialization.py | 1 + tests/sim/objects/test_rigid_object.py | 18 +- .../test_rigid_object_reuse_material.py | 4 + tests/sim/spawn/test_scene.py | 118 ++++++ tests/sim/test_material.py | 388 ++++++++++++++++++ tests/sim/test_material_integration.py | 242 +++++++++++ 23 files changed, 1509 insertions(+), 207 deletions(-) create mode 100644 agent_context/topics/simulation-system/materials.md create mode 100644 docs/architecture/visual-material-acceptance.md create mode 100644 tests/sim/test_material.py create mode 100644 tests/sim/test_material_integration.py diff --git a/agent_context/MAP.yaml b/agent_context/MAP.yaml index 3ee3cabf7..d22f9b0a8 100644 --- a/agent_context/MAP.yaml +++ b/agent_context/MAP.yaml @@ -11,7 +11,7 @@ topics: aliases: [simulation system, simulation manager, Newton physics backend, motion module, sim motion, camera attachment, 运动能力模块, 仿真系统, 仿真管理器] keywords: [SimulationManager, SimulationManagerCfg, RenderCfg, DenoisingCfg, DenoisingMode, DLSSCfg, NRDCfg, DLSS, NRD, frame_time_delta_ms, explicit physics stepping, arena, DexSim, PhysicsBackendCfg, - DefaultPhysicsCfg, NewtonPhysicsCfg, VisualObject, VisualObjectCfg, UsdSourceCfg, source_prim_path, add_visual_object, 纯渲染对象, AutoSolverCfg, DexUniSolverCfg, DexUni, runtime control, deformable, particle set, + DefaultPhysicsCfg, NewtonPhysicsCfg, VisualObject, VisualObjectCfg, VisualMaterial, VisualMaterialCfg, VisualMaterialInst, UsdSourceCfg, source_prim_path, add_visual_object, 纯渲染对象, AutoSolverCfg, DexUniSolverCfg, DexUni, runtime control, deformable, particle set, ArticulationJointKinematics, get_parent_joint_chain, asset_physics_mode, joint_drive_props, enable_gravity, fixed-cadence playback, quaternion, xyzw] paths: [topics/simulation-system/simulation-system.md] @@ -24,6 +24,7 @@ topics: - embodichain/lab/sim/cfg/ - embodichain/lab/sim/physics/ - embodichain/lab/sim/spawn/ + - embodichain/lab/sim/material.py - embodichain/lab/sim/common.py - embodichain/lab/sim/_startup_summary.py - embodichain/lab/sim/_runtime_controls.py @@ -34,7 +35,7 @@ topics: - embodichain/lab/sim/objects/gizmo.py - embodichain/lab/gym/envs/base_env.py watch_paths: [embodichain/lab/sim/sim_manager.py, embodichain/lab/sim/cfg/, embodichain/lab/sim/physics/, - embodichain/lab/sim/spawn/, embodichain/lab/sim/objects/, tests/sim/] + embodichain/lab/sim/spawn/, embodichain/lab/sim/material.py, embodichain/lab/sim/objects/, tests/sim/] related_topics: [env-framework, robot-system, sensor-system, sim-visualization, ik-solvers, motion-planning, atomic-actions, rl-learning, configclass-pattern, robot-workspace] status: active diff --git a/agent_context/topics/randomization/randomization.md b/agent_context/topics/randomization/randomization.md index 57ea08481..3d22d66a2 100644 --- a/agent_context/topics/randomization/randomization.md +++ b/agent_context/topics/randomization/randomization.md @@ -62,6 +62,13 @@ randomization remains active. See the owning - Camera extrinsics auto-detect the representation and frame: if `extrinsics.eye` is set → look-at mode (eye/target/up perturbation via `look_at`); otherwise → pose mode (pos/euler perturbation via `set_local_pose`), with `extrinsics.parent` selecting parent-relative pose and `parent=None` selecting arena-frame pose. - `set_rigid_object_visual_material` is deterministic (not random) but uses the same functor mechanism for fixed material assignment at reset. +- Visual material randomization preserves selected environments. Shared material + instances require a full-environment selection and are mutated once per call; + partial shared selections fail before mutation. Empty selections are no-ops. + Solid and library tiers apply configured scalar PBR ranges. Texture pools use + normalized source paths and remain bounded after initialization. See + [material identity and lifetime](../simulation-system/materials.md) for + configuration conversion, instance reuse and topology replay. - Light randomization applies the **same values across all envs** (documented limitation). - HDR indirect-lighting events inform the environment's automatic native-ground visibility; emissive mode does not. See the deployment-owned diff --git a/agent_context/topics/simulation-system/lifecycle.md b/agent_context/topics/simulation-system/lifecycle.md index 7031d6320..e696ada67 100644 --- a/agent_context/topics/simulation-system/lifecycle.md +++ b/agent_context/topics/simulation-system/lifecycle.md @@ -12,7 +12,8 @@ readiness; `spawn/scene.py` owns declaration coordination. The ordering is: native parents. Resolve/configure sources and commit Spawn topology. 2. Apply Default articulation root properties before Direct GPU buffers capture them. Delegate runtime setup to `PhysicsBackend.prepare_spawn_runtime()`. -3. Bind declared facades in place; publish their state through +3. Replay the current per-segment [material assignments](materials.md) captured + before rebuilding, then bind declared facades in place; publish their state through `PhysicsBackend.sync_render_state()` without a physics step. 4. Attach parented cameras and publish the ready topology revision only after every stage succeeds. diff --git a/agent_context/topics/simulation-system/materials.md b/agent_context/topics/simulation-system/materials.md new file mode 100644 index 000000000..7c8f1ec08 --- /dev/null +++ b/agent_context/topics/simulation-system/materials.md @@ -0,0 +1,55 @@ +# Visual materials + +`embodichain/lab/sim/material.py` owns `VisualMaterialCfg`, material templates, +native instance wrappers and segment assignment helpers. Its private +`_material_desc_from_cfg()` validates and normalizes both runtime creation and +`spawn/descriptors.py` lowering. Keep material type and emission semantics at +this shared boundary rather than duplicating conversion in callers. + +## Identity and state + +An unnamed configuration has no shared identity. Spawn derives its name from +the object and normalized appearance; the manager names standalone runtime +creations uniquely. Runtime and Spawn share the definition registry. Explicit +UIDs share only equivalent definitions; conflicting properties fail before +native writes. Equivalent aliases borrow current state without resetting it. +Definitions remain reserved for the World lifetime, including across native +unused-material cleanup. A template retains one wrapper per instance UID. Repeated +creation returns that wrapper without resetting properties; explicit +`set_default_properties()` applies a reset intentionally. + +Wrappers retain the exact native instance, including asset-parsed and reuse +instances. Every setter uses that handle. Scalar/color reads query native +state; DexSim's color getter supplies display-sRGB RGB, while configuration +and setters accept RGBA. Alpha cannot be verified through that getter. +Segment binding compares native material IDs rather than names. + +## Assignment lifetime + +Objects own their original per-segment assignments and selective reset +baselines. Before a topology rebuild, `SpawnScene` captures current assignments +of bound facades and replays them during binding. This preserves both deliberate +runtime replacements and completed restores even when retained native +descriptors still name an earlier replacement. A failed replay retains its +snapshot for preparation retry; successful replay and close release it. Removal +discards that object's pending entries before a same-UID replacement can bind. + +VisualObject additionally owns pose/visibility replay. Neither material replay +nor rendering advances physics. Native material handles and texture pools must +outlive their bindings and be released before their owning World. + +## Randomization boundary and validation + +[Visual randomization](../randomization/randomization.md) owns bounded native +texture pools, selected-environment sampling and tier choices. Imported asset +materials remain reset baselines; working instances are separate handles. +For repeated updates, prefer pre-created textures from the owning simulation +over per-call Tensor uploads. + +Primary CPU contracts are in `tests/sim/test_material.py`, +`tests/sim/spawn/test_scene.py` and +`tests/gym/envs/managers/test_randomize_visual_material.py`. Native parity, +selective mutation, stable instance capacity and topology replay live in +`tests/sim/test_material_integration.py`. The +[acceptance plan](../../../docs/architecture/visual-material-acceptance.md) +separates these checks from optical image and longer resource qualification. diff --git a/agent_context/topics/simulation-system/simulation-system.md b/agent_context/topics/simulation-system/simulation-system.md index a3ad31b6d..0dbd10542 100644 --- a/agent_context/topics/simulation-system/simulation-system.md +++ b/agent_context/topics/simulation-system/simulation-system.md @@ -10,6 +10,7 @@ | Manager-level backend hooks and capabilities | `embodichain/lab/sim/physics/` | | Object-level Scene batch adapters | `embodichain/lab/sim/objects/backends/scene.py`, `newton.py` | | Object, renderer and physics configuration | `embodichain/lab/sim/cfg/` (`cfg/__init__.py` is the public facade) | +| Visual material configuration, templates and native instances | `embodichain/lab/sim/material.py`; [material identity and lifetime](materials.md) | | Gym lifecycle and task scene construction | `embodichain/lab/gym/envs/base_env.py`, `embodied_env.py` | `embodichain.cli.sim` owns standalone simulation arguments without importing diff --git a/docs/architecture/visual-material-acceptance.md b/docs/architecture/visual-material-acceptance.md new file mode 100644 index 000000000..bf79e4b0f --- /dev/null +++ b/docs/architecture/visual-material-acceptance.md @@ -0,0 +1,130 @@ +# VisualMaterial 设计与正确性验收 + +## 适用版本与运行环境 + +本方案针对 `dexsim_engine==0.5.1rc1`，使用该版本要求的 +`warp-lang==1.17.0`、`newton[sim]==1.6.0`。验收必须读取实际导入环境的版本， +不能用修改包元数据、旧版替身或源码隔离探针替代原生集成结果。 + +本次复现环境为独立虚拟环境 `/tmp/embodichain-material-rc1`，底层 Python 3.10， +GPU 为 NVIDIA GeForce RTX 5090。本机 wheel 来自 +`~/Downloads/build_vcpkg-linux-cuda-py310/build_Release/lib/python_package/pip_package/`。 +其他机器使用同版本、匹配 Python ABI 的正式 wheel，并把下方 `python` 指向对应环境。 + +```bash +python -c 'from importlib.metadata import version; import dexsim; assert version("dexsim-engine") == "0.5.1rc1"; print(dexsim.__file__, version("warp-lang"), version("newton"))' +``` + +## 设计契约 + +- `VisualMaterialCfg` 描述材质；`material.py:_material_desc_from_cfg` 是运行时和 + Spawn 共用的属性校验、发光强度和材质类型转换边界。 +- 未命名材质的 `uid=None`。形状声明使用对象范围及标准化外观指纹生成名字，允许同 UID + 对象更换外观，并复用相同定义；独立运行时创建使用唯一名字。两条路径共用定义注册表， + 显式相同 UID 只允许等价定义复用，不同定义在原生写入前报错。等价别名保留已有运行时编辑。 +- 一个模板内每个 UID 对应一个稳定的 `VisualMaterialInst`。重复创建、查询不修改实例， + 不追加重复登记，也不重复写默认属性。需要重设时显式调用 `set_default_properties`； + 确定性刚体和群组 reset 事件负责这个操作。 +- 实例持有确定的原生句柄。包装导入资产、创建复用实例后，所有 setter 操作同一句柄。 + 材质身份使用原生 material ID，不能仅依赖模板名与实例名。 +- metallic、roughness、IOR 和颜色读取真实原生状态。`0.5.1rc1` 的颜色 getter 只暴露 + display-sRGB 的 RGB，因此 `instance.base_color` 返回 RGB；配置和 + `set_base_color` 继续接收 RGBA。不能根据 getter 声称验证了 alpha。 +- 发光 RGB 与非负强度相乘；零强度可恢复。两条创建路径使用同一转换， + `BRDF/BTDF/BSDF` 都传递给原生材质。 +- 非共享随机化仅影响所选环境；共享随机化要求选择全部环境，并且只采样、修改一次。 + 空选择是无操作；重复、越界或非整数环境索引必须在材质写入前失败。 +- 纯色分支保留有界纹理色板，同时应用配置的 metallic、roughness 和 IOR 范围。 + 相同规范化路径共享纹理缓存；不同路径即使目录同名也不能混用。 +- Spawn 在拓扑重建前保存已绑定对象的当前逐段材质，在绑定阶段重放。 + 保存的是当前状态，reset 基线仍由对象持有。重放失败时保留快照，成功后释放； + 移除对象时丢弃它的待重放记录，不能把旧对象快照写给同 UID 的新对象。 + +## 自动化验收矩阵 + +| 层级 | 用例与独立判据 | 覆盖入口 | 通过标准 | +|---|---|---|---| +| CPU：实例身份 | 同 UID 创建/查询 1,025 次；先修改属性再重复查询 | 模板、实例 | 包装器身份稳定；属性保留；登记容量只与唯一 UID 数有关；缓存命中无原生属性写入 | +| CPU：原生句柄 | 资产包装器对颜色、PBR 和各纹理通道写入 | `from_existing`、工作实例 | 原始句柄接收写入；不再按名字寻找替代实例 | +| CPU：身份比较 | 两个句柄名字相同、material ID 不同 | 逐段赋值 | 必须发生重新绑定；相同 ID 的等价句柄跳过重复绑定 | +| CPU：创建一致性 | 三种材质类型 × 强度 0、1、10；非默认颜色、roughness、metallic、IOR | 运行时与 Spawn | 两条路径提交相同属性；alpha 写入与启用标志保留 | +| CPU：非法输入 | 错误颜色维度、NaN、越界因子、非正 IOR、负发光强度、未知类型 | 两条创建路径 | 原生实例创建前失败 | +| CPU：命名与冲突 | 两个未命名红/蓝材质；显式同 UID 的等价与冲突定义 | Manager、Spawn | 独立材质不串色；等价复用；冲突失败且原注册不变 | +| CPU：跨入口别名 | 两个创建顺序；已有原生属性修改后创建等价运行时别名 | 共用定义注册表、原生默认实例 | 两个方向都拒绝冲突；等价别名不重置属性；Native 默认实例不出现未初始化灰色 | +| CPU：群组 reset | 群组实例修改属性后重放确定性事件 | 群组 setter、固定材质事件 | 所选环境恢复配置；未选环境保留修改 | +| CPU：环境选择 | 空集、非连续选择、共享局部选择、共享全量乱序选择 | 复用与回退路径 | 非目标环境无写入；共享局部选择拒绝；共享全量只修改一次 | +| CPU：随机化参数 | 固定 PBR 范围；仅重置一个关节体环境 | 纯色、纹理库、回退 | 固定范围精确生效；仅为所选环境/链接采样 | +| CPU：资源上界 | 多次调用与两个同名纹理目录 | 纹理缓存、色板 | 预热后无纹理创建；不同来源各自加载；同一来源复用 | +| CPU：重建与失败恢复 | 陈旧原生描述模拟重建；逐段重放中途失败 | 刚体、关节体、体/面可变形对象 | 当前材质逐段恢复；失败后重试成功；成功后快照释放 | +| CPU：失败后替换 | 重放失败后移除，再添加相同 UID、不同段数的新对象 | Spawn 移除与重试 | 旧快照被丢弃；新对象的材质与默认值不被污染 | +| 原生：Hybrid | 两环境，Default 与 Newton；独立红/蓝材质；临时赋值→恢复→增删其他对象 | Manager、Spawn、刚体、纯渲染对象 | 原生颜色/PBR 与配置一致；当前替换和 reset 结果在重建后保留；另一环境不变 | +| 原生：持续复用 | 每个后端执行 1,025 次局部随机化，读取原生模板实例数与最终属性 | 原生工作实例、PBR、选择隔离 | 预热后原生实例数不增长；所选范围生效；未选环境保留原材质 | +| 原生：替换与别名 | 同 UID 改色替换、相同定义重复替换、移除后重加、两个入口的等价别名 | Default 与 Newton | 外观正确改变；相同定义不新增登记；别名不重置已编辑原生属性 | + +浮点比较采用 `pytest.approx`；原生颜色往返绝对容差为 `1e-5`。 +随机化逻辑用固定范围验证参数生效，避免以随机采样“恰好不同”作为测试判据。 +纹理色板的颜色受 uint8 量化及有限色板分布影响，不应要求每次产生任意连续颜色。 + +## 执行命令 + +CPU 与原生测试分开执行，保持原生资源串行使用。 + +```bash +python -m pytest -q -m 'not requires_sim and not gpu' \ + tests/sim/test_material.py tests/sim/test_material_texture_obj.py \ + tests/sim/test_material_cache_config.py \ + tests/sim/objects/test_asset_material_initialization.py \ + tests/sim/objects/test_rigid_object_reuse_material.py \ + tests/sim/objects/test_articulation_reuse_material.py \ + tests/gym/envs/managers/test_randomize_visual_material.py \ + tests/sim/objects/test_visual_object.py \ + tests/sim/spawn tests/sim/test_cfg.py tests/gym/utils/test_gym_utils.py + +python -m pytest -q --run-gpu \ + tests/sim/test_material_integration.py \ + tests/sim/objects/test_visual_object_integration.py::test_render_only_object_native_lifecycle + +python -m black --check . +python docs/scripts/check_api_docs.py +python .agents/skills/project-dev-context/scripts/context.py check +``` + +## 本次执行记录（2026-10-23） + +使用上面的独立环境和真实 rc1 wheel；项目以 editable 方式安装，包含官方机器人与任务扩展。 +CPU 结果中的 4 个 deselected 用例由资源标签排除，不计入通过数。 + +| 检查 | 实际结果 | +|---|---| +| 扩展 CPU 回归（含 Spawn、配置与 Gym 配置加载） | 685 passed，4 deselected，12.37 s | +| 原生 Hybrid / Default + Newton | 4 passed，17.83 s；每个后端包含 1,025 次持续局部随机化 | +| 项目上下文测试 | 42 passed | +| Black 26.3.1 全仓检查 | 1,506 个 Python 文件无需更改 | +| 公共 API 文档覆盖 | 2,805 / 2,805，零遗漏 | +| 上下文链接与路由、diff 空白检查 | 通过 | + +API、引擎生命周期和 HPC 三个独立复核发现的群组 reset、跨入口身份、同 UID 替换、 +失败后快照和等价别名状态问题均已修正并补测。此记录不包含下面的光学图像和长期显存资格项目。 + +## 兼容性与后续发布验收 + +旧配置如果显式保存了 `uid: default_mat`，它现在是一个显式共享名字；需要独立外观时 +删除该字段或指定不同 UID。`get_instance` 和同 UID 的 `create_instance` 返回同一包装器， +不再隐式重置属性；旧调用者若依赖重复创建覆盖属性，应改为显式应用配置。 +读取颜色的调用者应接受原生 RGB；RGBA 写入保持支持。 +`clean_materials()` 清理运行时包装器和未使用的原生缓存，已登记的显式 UID 定义在 World +生命周期内保持身份，避免现有场景或原生句柄被同名不同属性的定义悄悄替换；不同定义使用新 UID。 + +这组测试验收的是材质状态、资源上界和生命周期，不能等同于完整光学图像验收。 +发布时还应在独立 FastRT 进程增加以下资格验证，并保存带环境信息的图片： + +1. 同一灯光、相机、曝光与几何下，BRDF/BTDF/BSDF 的反射和透射表现；透明物体后放置对照色块。 +2. 发光强度 0、1、10 的暗室对照；比较数值与图像，避免仅凭亮度饱和判断强度。 +3. 带多个材质段的 URDF/网格、关节体与可变形对象，在局部 reset 和拓扑重建后保持各段材质。 +4. 文件、Tensor 与原生 Texture 三种输入的颜色空间、法线贴图方向和重复绑定行为。 +5. 记录 10,000 次 reset 的原生实例数、纹理数和 VRAM。区分预热缓存与持续增长， + 不把 Torch 分配器统计当成全部 Vulkan/OptiX 显存。 + +每次验收记录：提交/工作树、实际 wheel 路径与版本、Python/Warp/Newton、GPU/驱动、 +后端与渲染器、命令、通过/失败/跳过项及原因。任何未执行的图像或后端矩阵保持待验证， +不能由 CPU mock 测试替代。 diff --git a/embodichain/lab/gym/envs/managers/randomization/visual.py b/embodichain/lab/gym/envs/managers/randomization/visual.py index 005d2e0d7..7cfa0c0ed 100644 --- a/embodichain/lab/gym/envs/managers/randomization/visual.py +++ b/embodichain/lab/gym/envs/managers/randomization/visual.py @@ -103,6 +103,8 @@ def set_rigid_object_visual_material( mat = env.sim.create_visual_material(mat_cfg) obj: RigidObject = env.sim.get_rigid_object(entity_cfg.uid) obj.set_visual_material(mat, env_ids=env_ids, update_default=True) + for instance in obj.get_visual_material_inst(env_ids=env_ids): + mat.set_default_properties(instance, mat_cfg) def set_rigid_object_group_visual_material( @@ -141,7 +143,7 @@ def set_rigid_object_group_visual_material( mat = env.sim.create_visual_material(mat_cfg) obj: RigidObjectGroup = env.sim.get_rigid_object_group(entity_cfg.uid) - obj.set_visual_material(mat, env_ids=env_ids) + obj.set_visual_material(mat, env_ids=env_ids, reset_properties=True) # Keyed by the camera object, so envs that reuse a camera uid each warn once. @@ -693,7 +695,7 @@ def __init__(self, cfg: FunctorCfg, env: EmbodiedEnv): if texture_path is not None: from embodichain.utils.utility import read_all_folder_images - texture_key = os.path.basename(texture_path) + texture_key = str(Path(texture_path).expanduser().resolve()) # check if the texture group is already loaded in the global texture cache if texture_key in env.sim.get_texture_cache(): logger.log_info( @@ -726,7 +728,9 @@ def __init__(self, cfg: FunctorCfg, env: EmbodiedEnv): self._library_textures: list = [] self._solid_textures: list = [] self._texture_key = ( - os.path.basename(texture_path) if texture_path is not None else "" + str(Path(texture_path).expanduser().resolve()) + if texture_path is not None + else "" ) can_reuse = ( @@ -875,13 +879,15 @@ def _init_legacy(self, env: EmbodiedEnv) -> None: ) self._legacy_mat = mat if isinstance(self.entity, RigidObject): - self.entity.set_visual_material(mat) + self.entity.set_visual_material(mat, shared=self._shared) elif isinstance(self.entity, Articulation): _, link_names = resolve_matching_names( self.entity_cfg.link_names, self.entity.link_names ) self.entity_cfg.link_names = link_names - self.entity.set_visual_material(mat, link_names=link_names) + self.entity.set_visual_material( + mat, link_names=link_names, shared=self._shared + ) self._mat_insts = None if self.entity_cfg.uid == "default_plane": @@ -944,12 +950,26 @@ def _randomize_mat_inst( self._randomize_texture(mat_inst) else: - # Use the bounded solid-color palette. Uploading a generated tensor - # here would allocate a fresh DexSim texture ID on every call. - texture_idx = torch.randint(0, len(self._solid_textures), (1,)).item() - mat_inst.set_base_color_texture( - texture_obj=self._solid_textures[texture_idx] + self._apply_solid_props(mat_inst, plan, idx) + + def _selected_env_ids( + self, env: EmbodiedEnv, env_ids: torch.Tensor | None + ) -> list[int]: + if env_ids is None: + ids = list(range(env.num_envs)) + else: + if env_ids.ndim != 1 or env_ids.dtype not in (torch.int32, torch.int64): + raise ValueError( + "Material environment indices must be a 1D integer tensor." + ) + ids = env_ids.detach().cpu().tolist() + if len(set(ids)) != len(ids) or any(i < 0 or i >= env.num_envs for i in ids): + raise ValueError( + "Material environment indices must be unique and in range." ) + if ids and self._shared and len(ids) != env.num_envs: + raise ValueError("Shared material randomization requires all environments.") + return ids def __call__( self, @@ -995,12 +1015,7 @@ def _call_reuse( ) -> None: if self.entity is None: return - if env_ids is None: - env_ids = torch.arange(env.num_envs, device="cpu") - else: - env_ids = env_ids.cpu() - - selected_env_ids = [int(env_idx) for env_idx in env_ids] + selected_env_ids = self._selected_env_ids(env, env_ids) num_reuse = len(self._reuse_state) # 1 if shared, else num_envs if num_reuse == 0 or not selected_env_ids: return @@ -1011,10 +1026,14 @@ def _call_reuse( is_articulation = isinstance(self.entity, Articulation) tiers = None if is_articulation else self._sample_tiers(num_plan) articulation_tiers = ( - self._sample_articulation_tiers() if is_articulation else None + self._sample_articulation_tiers([0] if self._shared else selected_env_ids) + if is_articulation + else None ) - def _apply(reuse_i: int, env_idx: int, plan_i: int) -> None: + def _apply( + reuse_i: int, env_idx: int, plan_i: int, update_properties: bool = True + ) -> None: if is_articulation: self._apply_tier_articulation( reuse_i, @@ -1022,21 +1041,26 @@ def _apply(reuse_i: int, env_idx: int, plan_i: int) -> None: articulation_tiers[reuse_i], plan, plan_i, + update_properties=update_properties, ) else: tier = int(tiers[plan_i].item()) self._apply_tier_rigid( - self._reuse_state[reuse_i], env_idx, tier, plan, plan_i + self._reuse_state[reuse_i], + env_idx, + tier, + plan, + plan_i, + update_properties=update_properties, ) if self._shared: - # single reuse state applied to every env - for env_idx in selected_env_ids: - _apply(0, env_idx, 0) + # Sample and mutate the shared instance once; only attachment repeats. + for i, env_idx in enumerate(selected_env_ids): + _apply(0, env_idx, 0, update_properties=i == 0) else: for plan_i, env_idx in enumerate(selected_env_ids): - reuse_i = env_idx if env_idx < num_reuse else 0 - _apply(reuse_i, env_idx, plan_i) + _apply(env_idx, env_idx, plan_i) def _sample_plan( self, num, base_color_range, metallic_range, roughness_range, ior_range @@ -1076,13 +1100,16 @@ def _sample_tiers(self, num_reuse: int) -> torch.Tensor: ) return torch.multinomial(probs, num_samples=num_reuse, replacement=True) - def _sample_articulation_tiers(self) -> list[dict[str, int]]: - """Sample an independent material tier for every articulation link.""" - tier_plans = [] - for link_map in self._reuse_state: + def _sample_articulation_tiers( + self, env_ids: list[int] + ) -> dict[int, dict[str, int]]: + """Sample only selected environments and their articulation links.""" + tier_plans = {} + for env_idx in env_ids: + link_map = self._reuse_state[env_idx] link_names = list(link_map) sampled = self._sample_tiers(len(link_names)).tolist() - tier_plans.append(dict(zip(link_names, sampled))) + tier_plans[env_idx] = dict(zip(link_names, sampled)) return tier_plans def _apply_inst(self, env_idx, mat_inst, mesh_id, link_name=None) -> None: @@ -1094,16 +1121,19 @@ def _apply_inst(self, env_idx, mat_inst, mesh_id, link_name=None) -> None: env_idx, mat_inst, link_name, mesh_id ) - def _apply_tier_rigid(self, segments, env_idx, tier, plan, idx) -> None: + def _apply_tier_rigid( + self, segments, env_idx, tier, plan, idx, *, update_properties: bool = True + ) -> None: if not segments: return if tier == 0: # original self._restore_original(segments, env_idx) return - if tier == 1 and self._library_textures: # library - self._apply_library_props(segments[0].working_inst, plan, idx) - else: # solid (or library with empty library) - self._apply_solid_props(segments[0].working_inst, plan, idx) + if update_properties: + if tier == 1 and self._library_textures: # library + self._apply_library_props(segments[0].working_inst, plan, idx) + else: # solid (or library with empty library) + self._apply_solid_props(segments[0].working_inst, plan, idx) self._attach_working(segments, env_idx) def _apply_library_props(self, working_inst, plan, idx) -> None: @@ -1114,8 +1144,14 @@ def _apply_library_props(self, working_inst, plan, idx) -> None: def _apply_solid_props(self, working_inst, plan, idx) -> None: texture_idx = torch.randint(0, len(self._solid_textures), (1,)).item() working_inst.set_base_color([1.0, 1.0, 1.0, 1.0]) - working_inst.set_metallic(0.0) - working_inst.set_roughness(0.7) + working_inst.set_metallic( + plan["metallic"][idx].item() if "metallic" in plan else 0.0 + ) + working_inst.set_roughness( + plan["roughness"][idx].item() if "roughness" in plan else 0.7 + ) + if "ior" in plan: + working_inst.set_ior(plan["ior"][idx].item()) working_inst.set_base_color_texture( texture_obj=self._solid_textures[texture_idx] ) @@ -1139,7 +1175,9 @@ def _apply_plan_props(self, working_inst, plan, idx) -> None: if "ior" in plan: working_inst.set_ior(plan["ior"][idx].item()) - def _apply_tier_articulation(self, reuse_i, env_idx, tiers, plan, plan_i) -> None: + def _apply_tier_articulation( + self, reuse_i, env_idx, tiers, plan, plan_i, *, update_properties: bool = True + ) -> None: link_map = self._reuse_state[reuse_i] # Dict[str, List[ReuseSegmentState]] for link_name, segments in link_map.items(): if not segments: @@ -1148,10 +1186,11 @@ def _apply_tier_articulation(self, reuse_i, env_idx, tiers, plan, plan_i) -> Non if tier == 0: # original self._restore_original(segments, env_idx, link_name) continue - if tier == 1 and self._library_textures: # library - self._apply_library_props(segments[0].working_inst, plan, plan_i) - else: # solid - self._apply_solid_props(segments[0].working_inst, plan, plan_i) + if update_properties: + if tier == 1 and self._library_textures: # library + self._apply_library_props(segments[0].working_inst, plan, plan_i) + else: # solid + self._apply_solid_props(segments[0].working_inst, plan, plan_i) self._attach_working(segments, env_idx, link_name) def _call_legacy( @@ -1168,11 +1207,9 @@ def _call_legacy( if self.entity_cfg.uid != "default_plane" and self.entity is None: return - if env_ids is None: - env_ids = torch.arange(env.num_envs, device="cpu") - else: - env_ids = env_ids.cpu() - + env_ids = self._selected_env_ids(env, env_ids) + if not env_ids: + return if self.entity_cfg.uid == "default_plane": env_ids = [0] @@ -1181,30 +1218,30 @@ def _call_legacy( base_color = sample_uniform( lower=torch.tensor(base_color_range[0], dtype=torch.float32), upper=torch.tensor(base_color_range[1], dtype=torch.float32), - size=(len(env_ids), 3), + size=(1 if self._shared else len(env_ids), 3), ) - alpha_channel = torch.ones((len(env_ids), 1), dtype=torch.float32) + alpha_channel = torch.ones((base_color.shape[0], 1), dtype=torch.float32) base_color = torch.cat((base_color, alpha_channel), dim=1) randomize_plan["base_color"] = base_color if metallic_range: metallic = sample_uniform( lower=torch.tensor(metallic_range[0], dtype=torch.float32), upper=torch.tensor(metallic_range[1], dtype=torch.float32), - size=(len(env_ids), 1), + size=(1 if self._shared else len(env_ids), 1), ) randomize_plan["metallic"] = metallic if roughness_range: roughness = sample_uniform( lower=torch.tensor(roughness_range[0], dtype=torch.float32), upper=torch.tensor(roughness_range[1], dtype=torch.float32), - size=(len(env_ids), 1), + size=(1 if self._shared else len(env_ids), 1), ) randomize_plan["roughness"] = roughness if ior_range: ior = sample_uniform( lower=torch.tensor(ior_range[0], dtype=torch.float32), upper=torch.tensor(ior_range[1], dtype=torch.float32), - size=(len(env_ids), 1), + size=(1 if self._shared else len(env_ids), 1), ) randomize_plan["ior"] = ior @@ -1222,7 +1259,9 @@ def _call_legacy( selected_env_ids = [int(env_idx) for env_idx in env_ids] if isinstance(self.entity, RigidObject): - self.entity.set_visual_material(self._legacy_mat, env_ids=selected_env_ids) + self.entity.set_visual_material( + self._legacy_mat, env_ids=selected_env_ids, shared=self._shared + ) self._mat_insts = self.entity.get_visual_material_inst( env_ids=selected_env_ids ) @@ -1231,13 +1270,16 @@ def _call_legacy( self._legacy_mat, env_ids=selected_env_ids, link_names=self.entity_cfg.link_names, + shared=self._shared, ) self._mat_insts = self.entity.get_visual_material_inst( env_ids=selected_env_ids, link_names=self.entity_cfg.link_names, ) - for i, data in enumerate(self._mat_insts): + for i, data in enumerate( + self._mat_insts[:1] if self._shared else self._mat_insts + ): if isinstance(self.entity, RigidObject): mat: VisualMaterialInst = data elif isinstance(self.entity, Articulation): diff --git a/embodichain/lab/sim/material.py b/embodichain/lab/sim/material.py index d88c0410f..3a85db3e1 100644 --- a/embodichain/lab/sim/material.py +++ b/embodichain/lab/sim/material.py @@ -17,17 +17,22 @@ from __future__ import annotations import copy +import math import torch import dexsim import numpy as np from dataclasses import dataclass -from typing import Dict, Union -from functools import cached_property +from collections.abc import Sequence +from typing import TYPE_CHECKING +from uuid import uuid4 from dexsim.engine import MaterialInst, Material from embodichain.utils import configclass, logger +if TYPE_CHECKING: + from dexsim.spawn import MaterialDesc + __all__ = [ "VisualMaterialCfg", "VisualMaterial", @@ -40,10 +45,11 @@ class VisualMaterialCfg: """Configuration for visual material with PBR properties for rasterization and ray tracing.""" - uid: str = "default_mat" + uid: str | None = None + """Explicit shared identity, or None for an automatically named material.""" # Basic PBR properties - base_color: list = [0.5, 0.5, 0.5, 1.0] + base_color: list[float] = [0.5, 0.5, 0.5, 1.0] """Base color/diffuse color (RGBA)""" metallic: float = 0.0 @@ -53,23 +59,23 @@ class VisualMaterialCfg: """Surface roughness (0.0 = smooth, 1.0 = rough)""" # Additional PBR properties - emissive: list = [0.0, 0.0, 0.0] # Emissive color (RGB) + emissive: list[float] = [0.0, 0.0, 0.0] # Emissive color (RGB) emissive_intensity: float = 1.0 # Emissive intensity multiplier # Texture maps - base_color_texture: str = None + base_color_texture: str | None = None """Base color texture map""" - metallic_texture: str = None + metallic_texture: str | None = None """Metallic map""" - roughness_texture: str = None + roughness_texture: str | None = None """Roughness map""" - normal_texture: str = None + normal_texture: str | None = None """Normal map""" - ao_texture: str = None + ao_texture: str | None = None """Ambient occlusion map""" # Ray tracing specific properties @@ -94,6 +100,67 @@ def from_dict(cls, cfg_dict: dict) -> VisualMaterialCfg: return base +_MATERIAL_TYPES = { + "BRDF": "BRDF_GGX_SMITH", + "BTDF": "BTDF_GGX_SMITH", + "BSDF": "BSDF_GGX_SMITH", +} + + +def _material_scalar( + value: float, name: str, *, lower: float = 0.0, upper: float | None = None +) -> float: + value = float(value) + if ( + not math.isfinite(value) + or value < lower + or (upper is not None and value > upper) + ): + raise ValueError(f"Visual material {name} has an invalid value: {value}.") + return value + + +def _material_color(value: Sequence[float], name: str, size: int) -> tuple[float, ...]: + if len(value) != size: + raise ValueError(f"Visual material {name} must have {size} components.") + return tuple(_material_scalar(v, name) for v in value) + + +def _material_desc_from_cfg(cfg: VisualMaterialCfg, uid: str) -> MaterialDesc: + """Normalize both declaration and runtime material creation at one boundary.""" + from dexsim.spawn import MaterialDesc + + if not isinstance(uid, str) or not uid.strip(): + raise ValueError("Visual material uid must be a nonempty string.") + if cfg.material_type not in _MATERIAL_TYPES: + raise ValueError(f"Invalid visual material_type {cfg.material_type!r}.") + color = _material_color(cfg.base_color, "base_color (RGBA)", 4) + _material_scalar(color[3], "base_color alpha", upper=1.0) + emissive = _material_color(cfg.emissive, "emissive (RGB)", 3) + intensity = _material_scalar(cfg.emissive_intensity, "emissive_intensity") + ior = _material_scalar(cfg.ior, "ior") + if ior == 0: + raise ValueError("Visual material ior must be positive.") + return MaterialDesc( + name=uid, + base_color=color, + base_color_map=cfg.base_color_texture, + metallic=_material_scalar(cfg.metallic, "metallic", upper=1.0), + metallic_map=cfg.metallic_texture, + roughness=_material_scalar(cfg.roughness, "roughness", upper=1.0), + roughness_map=cfg.roughness_texture, + normal_map=cfg.normal_texture, + ao_map=cfg.ao_texture, + emissive=( + *(_material_scalar(v * intensity, "emissive") for v in emissive), + 1.0, + ), + ior=ior, + material_type=_MATERIAL_TYPES[cfg.material_type], + has_alpha=True, + ) + + class VisualMaterial: """Visual material definition in the simulation environment. @@ -107,25 +174,34 @@ class VisualMaterial: "BSDF", ] - MAT_TYPE_MAPPING: Dict[str, str] = { - "BRDF": "BRDF_GGX_SMITH", - "BTDF": "BTDF_GGX_SMITH", - "BSDF": "BSDF_GGX_SMITH", - } - - def __init__(self, cfg: VisualMaterialCfg, mat: Material): - if cfg.material_type not in self.RT_MATERIAL_TYPES: - logger.log_error( - f"Invalid material_type '{cfg.material_type}'. " - f"Supported types: {self.RT_MATERIAL_TYPES}" - ) + MAT_TYPE_MAPPING: dict[str, str] = _MATERIAL_TYPES - self.uid = cfg.uid + def __init__( + self, cfg: VisualMaterialCfg, mat: Material, *, initialize_default: bool = True + ) -> None: + """Create a template wrapper or borrow an already configured native one. + + Args: + cfg: Defaults for newly created material instances. + mat: Native template owned by the simulation. + initialize_default: Apply configuration to the native default instance. + Disable for a known existing template to preserve runtime edits. + """ + self.uid = cfg.uid or f"visual_material_{uuid4().hex}" + _material_desc_from_cfg(cfg, self.uid) self.cfg = copy.deepcopy(cfg) + self.cfg.uid = self.uid self._mat = mat - self._mat_inst_list: list[str] = [] + self._instances: dict[str, VisualMaterialInst] = {} - self._default_mat_inst = self.create_instance(self.uid) + # Spawn resolves a named template through its native default instance. + # Keep that entry configured too when runtime and declarations share a UID. + self._default_mat_inst = VisualMaterialInst( + self.uid, self._mat, mat_inst=self._mat.get_inst() + ) + if initialize_default: + self.set_default_properties(self._default_mat_inst, self.cfg) + self._instances[self.uid] = self._default_mat_inst @property def mat(self) -> Material: @@ -138,11 +214,17 @@ def inst(self) -> VisualMaterialInst: def set_default_properties( self, mat_inst: VisualMaterialInst, cfg: VisualMaterialCfg ) -> None: - mat_inst.set_base_color(cfg.base_color) - mat_inst.set_metallic(cfg.metallic) - mat_inst.set_roughness(cfg.roughness) - mat_inst.set_emissive(cfg.emissive) - # mat_inst.set_emissive_intensity(self.cfg.emissive_intensity) # Unimplemented + """Explicitly apply validated configuration to an existing instance. + + Args: + mat_inst: Instance whose properties will be replaced. + cfg: Material properties to apply. + """ + desc = _material_desc_from_cfg(cfg, self.uid) + mat_inst.set_base_color(desc.base_color) + mat_inst.set_metallic(desc.metallic) + mat_inst.set_roughness(desc.roughness) + mat_inst._set_emissive(cfg.emissive, cfg.emissive_intensity) mat_inst.set_base_color_texture(cfg.base_color_texture) mat_inst.set_metallic_texture(cfg.metallic_texture) @@ -150,8 +232,8 @@ def set_default_properties( mat_inst.set_normal_texture(cfg.normal_texture) mat_inst.set_ao_texture(cfg.ao_texture) - mat_inst.set_ior(cfg.ior) - mat_inst.mat.update_pbr_material_type(self.MAT_TYPE_MAPPING[cfg.material_type]) + mat_inst.set_ior(desc.ior) + mat_inst.mat.update_pbr_material_type(desc.material_type) def create_instance(self, uid: str) -> VisualMaterialInst: """Create a new material instance from this material template. @@ -165,11 +247,11 @@ def create_instance(self, uid: str) -> VisualMaterialInst: Returns: VisualMaterialInst: The created material instance. """ + if uid in self._instances: + return self._instances[uid] inst = VisualMaterialInst(uid, self._mat) - # TODO: Support change default properties for material. - # This will improve the instance creation efficiency. self.set_default_properties(inst, self.cfg) - self._mat_inst_list.append(uid) + self._instances[uid] = inst return inst def get_default_instance(self) -> VisualMaterialInst: @@ -189,9 +271,9 @@ def get_instance(self, uid: str) -> VisualMaterialInst: Returns: VisualMaterialInst: The material instance. """ - if uid not in self._mat_inst_list: + if uid not in self._instances: logger.log_error(f"Material instance with uid '{uid}' does not exist.") - return VisualMaterialInst(uid, self._mat) + return self._instances[uid] class VisualMaterialInst: @@ -205,21 +287,14 @@ def __init__( ) -> None: self.uid = uid self._mat = mat - self._mat_inst = mat_inst - - # Init properties with default values - self.base_color = [0.5, 0.5, 0.5, 1.0] - self.metallic = 0.0 - self.roughness = 0.5 - self.emissive = [0.0, 0.0, 0.0] - self.emissive_intensity = 1.0 - self.base_color_texture = None + self._mat_inst = mat_inst if mat_inst is not None else mat.get_inst(uid) + self._emissive_rgb: tuple[float, ...] | None = None + self._emissive_intensity = 1.0 + self.base_color_texture = self.mat.get_base_color_map() self.metallic_texture = None self.roughness_texture = None self.normal_texture = None self.ao_texture = None - self.ior = 1.5 - # self.subsurface = 0.0 @classmethod def from_existing(cls, mat_inst: MaterialInst) -> VisualMaterialInst: @@ -241,39 +316,71 @@ def from_existing(cls, mat_inst: MaterialInst) -> VisualMaterialInst: @property def mat(self) -> MaterialInst: - existing_inst = getattr(self, "_mat_inst", None) - if existing_inst is not None: - return existing_inst - return self._mat.get_inst(self.uid) + return self._mat_inst + + @property + def base_color(self) -> list[float]: + """Current native display-sRGB color (RGB); DexSim exposes no alpha getter.""" + return [float(v) for v in self.mat.get_base_color()[:3]] + + @property + def metallic(self) -> float: + """Current native metallic factor.""" + return float(self.mat.get_metallic()) + + @property + def roughness(self) -> float: + """Current native roughness.""" + return float(self.mat.get_roughness()) - def set_base_color(self, color: list) -> None: + @property + def ior(self) -> float: + """Current native index of refraction.""" + return float(self.mat.get_ior()) + + @property + def emissive(self) -> list[float]: + """Unscaled emissive RGB, including when intensity is zero.""" + if self._emissive_intensity == 0 and self._emissive_rgb is not None: + return list(self._emissive_rgb) + return [ + float(v) / self._emissive_intensity for v in self.mat.get_emissive()[:3] + ] + + @property + def emissive_intensity(self) -> float: + """Multiplier applied to emissive RGB by this wrapper.""" + return self._emissive_intensity + + def set_base_color(self, color: Sequence[float]) -> None: """Set base color/diffuse color.""" - self.base_color = color - self.mat.set_base_color(color) + color = _material_color(color, "base_color (RGBA)", 4) + _material_scalar(color[3], "base_color alpha", upper=1.0) + self.mat.set_base_color(list(color)) def set_metallic(self, metallic: float) -> None: """Set metallic factor.""" - self.metallic = metallic - inst = self._mat.get_inst(self.uid) - inst.set_metallic(metallic) + self.mat.set_metallic(_material_scalar(metallic, "metallic", upper=1.0)) def set_roughness(self, roughness: float) -> None: """Set surface roughness.""" - self.roughness = roughness - inst = self._mat.get_inst(self.uid) - inst.set_roughness(roughness) + self.mat.set_roughness(_material_scalar(roughness, "roughness", upper=1.0)) - def set_emissive(self, emissive: list) -> None: + def set_emissive(self, emissive: Sequence[float]) -> None: """Set emissive color.""" - self.emissive = emissive - value = np.zeros(4) - value[0:3] = emissive - inst = self._mat.get_inst(self.uid) - inst.set_emissive(value) + self._set_emissive(emissive, self._emissive_intensity) + + def _set_emissive(self, emissive: Sequence[float], intensity: float) -> None: + rgb = _material_color(emissive, "emissive (RGB)", 3) + intensity = _material_scalar(intensity, "emissive_intensity") + value = [_material_scalar(v * intensity, "emissive") for v in rgb] + self.mat.set_emissive(np.asarray([*value, 1.0])) + self._emissive_rgb = rgb + self._emissive_intensity = intensity def set_emissive_intensity(self, intensity: float) -> None: """Set emissive intensity multiplier.""" - logger.log_error("Unimplemented: set_emissive_intensity") + self._set_emissive(self.emissive, intensity) def set_base_color_texture( self, @@ -298,15 +405,15 @@ def set_base_color_texture( if texture_path is not None: self.base_color_texture = texture_path - inst = self._mat.get_inst(self.uid) + inst = self.mat inst.set_base_color_map(texture_path) elif texture_obj is not None: self.base_color_texture = texture_obj - inst = self._mat.get_inst(self.uid) + inst = self.mat inst.set_base_color_map(texture_obj) elif texture_data is not None: self.base_color_texture = texture_data - inst = self._mat.get_inst(self.uid) + inst = self.mat # TODO: Optimize texture creation method. world = dexsim.default_world() @@ -332,11 +439,11 @@ def set_metallic_texture( if texture_path is not None: self.metallic_texture = texture_path - inst = self._mat.get_inst(self.uid) + inst = self.mat inst.set_metallic_map(texture_path) elif texture_data is not None: self.metallic_texture = texture_data - inst = self._mat.get_inst(self.uid) + inst = self.mat # TODO: Optimize texture creation method. world = dexsim.default_world() @@ -362,11 +469,11 @@ def set_roughness_texture( if texture_path is not None: self.roughness_texture = texture_path - inst = self._mat.get_inst(self.uid) + inst = self.mat inst.set_roughness_map(texture_path) elif texture_data is not None: self.roughness_texture = texture_data - inst = self._mat.get_inst(self.uid) + inst = self.mat # TODO: Optimize texture creation method. world = dexsim.default_world() @@ -392,11 +499,11 @@ def set_normal_texture( if texture_path is not None: self.normal_texture = texture_path - inst = self._mat.get_inst(self.uid) + inst = self.mat inst.set_normal_map(texture_path) elif texture_data is not None: self.normal_texture = texture_data - inst = self._mat.get_inst(self.uid) + inst = self.mat # TODO: Optimize texture creation method. world = dexsim.default_world() @@ -422,11 +529,11 @@ def set_ao_texture( if texture_path is not None: self.ao_texture = texture_path - inst = self._mat.get_inst(self.uid) + inst = self.mat inst.set_ao_map(texture_path) elif texture_data is not None: self.ao_texture = texture_data - inst = self._mat.get_inst(self.uid) + inst = self.mat # TODO: Optimize texture creation method. world = dexsim.default_world() @@ -439,9 +546,10 @@ def set_ao_texture( def set_ior(self, ior: float) -> None: """Set index of refraction.""" - self.ior = ior - inst = self._mat.get_inst(self.uid) - inst.set_pbr_param("ior", ior) + ior = _material_scalar(ior, "ior") + if ior == 0: + raise ValueError("Visual material ior must be positive.") + self.mat.set_pbr_param("ior", ior) @dataclass @@ -492,14 +600,7 @@ def _is_same_material_inst( return True if current_inst is None or original_inst is None: return False - current_template = current_inst.get_template() - original_template = original_inst.get_template() - return ( - current_inst.get_name() == original_inst.get_name() - and current_template is not None - and original_template is not None - and current_template.get_name() == original_template.get_name() - ) + return current_inst.get_material_id() == original_inst.get_material_id() def _set_render_material(render_body, mesh_id: int, mat_inst: MaterialInst) -> None: diff --git a/embodichain/lab/sim/objects/articulation.py b/embodichain/lab/sim/objects/articulation.py index a17c39fd6..902e3296e 100644 --- a/embodichain/lab/sim/objects/articulation.py +++ b/embodichain/lab/sim/objects/articulation.py @@ -38,6 +38,7 @@ from embodichain.lab.sim import VisualMaterialInst, VisualMaterial, ReuseSegmentState from embodichain.lab.sim.material import ( _capture_render_materials, + _is_same_material_inst, _restore_render_materials, _set_render_material, _wrap_first_render_material, @@ -3407,8 +3408,10 @@ def get_existing_visual_material( ) if working_inst is None: working_name = f"{self.uid}_reuse_{env_idx}_{link_name}" - template.create_inst(working_name) - working_inst = VisualMaterialInst(working_name, template) + native_inst = template.create_inst(working_name) + working_inst = VisualMaterialInst( + working_name, template, mat_inst=native_inst + ) segments.append( ReuseSegmentState( mesh_id=mesh_id, @@ -3438,6 +3441,14 @@ def apply_render_material_inst( _set_render_material( self._entities[env_idx].get_render_body(link_name), mesh_id, mat_inst ) + if mesh_id == 0: + current = self._visual_material[env_idx].get(link_name) + if current is None or not _is_same_material_inst(current.mat, mat_inst): + wrapped = _wrap_first_render_material([mat_inst]) + if wrapped is None: + self._visual_material[env_idx].pop(link_name, None) + else: + self._visual_material[env_idx][link_name] = wrapped def set_physical_visible( self, diff --git a/embodichain/lab/sim/objects/rigid_object.py b/embodichain/lab/sim/objects/rigid_object.py index 64ea84d4b..e56ca6abc 100644 --- a/embodichain/lab/sim/objects/rigid_object.py +++ b/embodichain/lab/sim/objects/rigid_object.py @@ -72,6 +72,7 @@ ) from embodichain.lab.sim.material import ( _capture_render_materials, + _is_same_material_inst, _restore_render_materials, _set_render_material, _wrap_first_render_material, @@ -1585,8 +1586,10 @@ def get_existing_visual_material( ) if working_inst is None: working_name = f"{self.uid}_reuse_{env_idx}" - template.create_inst(working_name) - working_inst = VisualMaterialInst(working_name, template) + native_inst = template.create_inst(working_name) + working_inst = VisualMaterialInst( + working_name, template, mat_inst=native_inst + ) segments.append( ReuseSegmentState( mesh_id=mesh_id, @@ -1613,6 +1616,10 @@ def apply_render_material_inst( _set_render_material( self._entities[env_idx].get_render_body(), mesh_id, mat_inst ) + if mesh_id == 0: + current = self._visual_material[env_idx] + if current is None or not _is_same_material_inst(current.mat, mat_inst): + self._visual_material[env_idx] = _wrap_first_render_material([mat_inst]) def share_visual_material_inst(self, mat_insts: List[VisualMaterialInst]) -> None: """Share material instances for the rigid object. diff --git a/embodichain/lab/sim/objects/rigid_object_group.py b/embodichain/lab/sim/objects/rigid_object_group.py index 16eb3ac3d..5d17b1374 100644 --- a/embodichain/lab/sim/objects/rigid_object_group.py +++ b/embodichain/lab/sim/objects/rigid_object_group.py @@ -648,11 +648,22 @@ def set_visual_material( self, mat: VisualMaterial, env_ids: Sequence[int] | None = None, + *, + reset_properties: bool = False, ) -> None: - """Assign one material instance to all members in each selected env.""" + """Assign one material instance to all members in each selected env. + + Args: + mat: Material template to assign. + env_ids: Environments to change, or all environments. + reset_properties: Explicitly restore template properties on selected + instances, as required by deterministic material reset events. + """ env, _, _ = self._selected_indices(env_ids) for env_id in env: material = mat.create_instance(f"{mat.uid}_{self.uid}_{env_id}") + if reset_properties: + mat.set_default_properties(material, mat.cfg) for entity in self._entities[env_id]: entity.set_material(material.mat) diff --git a/embodichain/lab/sim/sim_manager.py b/embodichain/lab/sim/sim_manager.py index 2e0fcbb20..934f27518 100644 --- a/embodichain/lab/sim/sim_manager.py +++ b/embodichain/lab/sim/sim_manager.py @@ -29,6 +29,7 @@ import warp as wp from pathlib import Path +from uuid import uuid4 from copy import deepcopy from datetime import datetime from functools import cached_property, partial @@ -134,6 +135,7 @@ def _is_usd_path(path: object | None) -> bool: ) from embodichain.lab.sim.spawn.scene import SpawnScene from embodichain.lab.sim import VisualMaterial, VisualMaterialCfg +from embodichain.lab.sim.material import _material_desc_from_cfg from embodichain.lab.sim.profiler import Profiler, ProfilerCfg from embodichain.lab.visualization.cfg import VisualizationCfg from embodichain.utils import configclass, logger @@ -4814,19 +4816,31 @@ def create_visual_material(self, cfg: VisualMaterialCfg) -> VisualMaterial: """ self._require_native_renderer("Native visual materials") + cfg = cfg.replace(uid=cfg.uid or f"visual_material_{uuid4().hex}") + descriptor = _material_desc_from_cfg(cfg, cfg.uid) + definitions = self._spawn_scene.builder.materials + registered = definitions.get(cfg.uid) + if registered is not None and registered != descriptor: + raise ValueError(f"Conflicting visual material definition for {cfg.uid!r}.") if cfg.uid in self._visual_materials: - logger.log_warning( - f"Visual material {cfg.uid} already exists. Returning the existing one." - ) - return self._visual_materials[cfg.uid] + existing = self._visual_materials[cfg.uid] + if _material_desc_from_cfg(existing.cfg, cfg.uid) != descriptor: + raise ValueError( + f"Conflicting visual material definition for {cfg.uid!r}." + ) + return existing - mat: Material = self._env.create_pbr_material(cfg.uid, True) - visual_mat = VisualMaterial(cfg, mat) + mat: Material | None = self._env.find_material(cfg.uid) + initialize_default = mat is None or registered is None + if mat is None: + mat = self._env.create_pbr_material(cfg.uid, True) + visual_mat = VisualMaterial(cfg, mat, initialize_default=initialize_default) + definitions[cfg.uid] = descriptor self._visual_materials[cfg.uid] = visual_mat return visual_mat - def get_visual_material(self, uid: str) -> VisualMaterial: + def get_visual_material(self, uid: str) -> VisualMaterial | None: """Get visual material by UID. Args: @@ -4838,7 +4852,13 @@ def get_visual_material(self, uid: str) -> VisualMaterial: return self._visual_materials[uid] - def clean_materials(self): + def clean_materials(self) -> None: + """Clear runtime wrappers and ask the native owner to release unused materials. + + Explicit material definitions remain reserved in the Scene for the World + lifetime. Cleaning does not permit a conflicting definition to replace a + UID that declarations or live native handles may still reference. + """ self._visual_materials = {} if self._env: self._env.clean_materials() diff --git a/embodichain/lab/sim/spawn/descriptors.py b/embodichain/lab/sim/spawn/descriptors.py index e3088a8de..a580e1239 100644 --- a/embodichain/lab/sim/spawn/descriptors.py +++ b/embodichain/lab/sim/spawn/descriptors.py @@ -33,6 +33,7 @@ from collections.abc import Sequence from dataclasses import MISSING, dataclass, field, fields, replace import math +import hashlib import numbers import os import warnings @@ -1723,28 +1724,16 @@ def _compile_visual_material( ) -> tuple[str | None, tuple[str, MaterialDesc] | None]: if cfg is None: return None, None - key = str(cfg.uid or f"{object_uid}_material") - base_color = tuple(float(value) for value in cfg.base_color) - if len(base_color) != 4: - raise ValueError("VisualMaterialCfg.base_color must be RGBA.") - emissive_rgb = tuple( - float(value) * float(cfg.emissive_intensity) for value in cfg.emissive - ) - if len(emissive_rgb) != 3: - raise ValueError("VisualMaterialCfg.emissive must be RGB.") - desc = MaterialDesc( - name=key, - base_color=base_color, - base_color_map=cfg.base_color_texture, - normal_map=cfg.normal_texture, - emissive=(*emissive_rgb, 1.0), - roughness=float(cfg.roughness), - roughness_map=cfg.roughness_texture, - metallic=float(cfg.metallic), - metallic_map=cfg.metallic_texture, - ao_map=cfg.ao_texture, - ior=float(cfg.ior), - ) + from embodichain.lab.sim.material import _material_desc_from_cfg + + key = cfg.uid or f"{object_uid}_material" + desc = _material_desc_from_cfg(cfg, key) + if not cfg.uid: + # Replacements may keep the object UID while changing appearance. Reuse + # an implicit template only for the same normalized material definition. + digest = hashlib.sha256(repr(desc).encode("utf-8")).hexdigest()[:16] + key = f"{key}_{digest}" + desc.name = key return key, (key, desc) diff --git a/embodichain/lab/sim/spawn/scene.py b/embodichain/lab/sim/spawn/scene.py index 7d22f1667..7f3f047c9 100644 --- a/embodichain/lab/sim/spawn/scene.py +++ b/embodichain/lab/sim/spawn/scene.py @@ -70,10 +70,18 @@ def __init__( ) self._assets: dict[str, _AssetDeclaration] = {} self._usd_texture_files = _UsdTextureFiles() + self._pending_material_assignments: ( + dict[tuple[str, int, str | None], list[Any]] | None + ) = None def _resolve_materials(self, materials: dict[str, Any]) -> dict[str, Any]: """Resolve package images before DexSim creates native materials.""" - return self._usd_texture_files.resolve(materials) + resolved = self._usd_texture_files.resolve(materials) + for uid, descriptor in resolved.items(): + existing = self.builder.materials.get(uid) + if existing is not None and existing != descriptor: + raise ValueError(f"Conflicting visual material definition for {uid!r}.") + return resolved @property def arena_names(self) -> tuple[str, ...]: @@ -202,6 +210,11 @@ def remove(self, uid: str) -> None: if removed is None: raise KeyError(f"Spawn asset is absent from SceneBuilder: {uid!r}.") del self._assets[uid] + pending = getattr(self, "_pending_material_assignments", None) + if pending is not None: + self._pending_material_assignments = { + key: materials for key, materials in pending.items() if key[0] != uid + } def commit(self) -> Any: """Finalize once or let the current ``Scene`` consume pending changes.""" @@ -212,6 +225,10 @@ def commit(self) -> Any: result = self.builder.result assert result is not None if self.builder.has_pending_changes or result.needs_rebuild: + if getattr(self, "_pending_material_assignments", None) is None: + self._pending_material_assignments = ( + self._capture_material_assignments() + ) result = result.rebuild(self.builder) for uid in self._assets: @@ -219,6 +236,52 @@ def commit(self) -> Any: self.builder.result = result return result + def _capture_material_assignments( + self, + ) -> dict[tuple[str, int, str | None], list[Any]]: + """Snapshot current per-segment assignments before native resources rebuild.""" + from embodichain.lab.sim.material import _capture_render_materials + + assignments = {} + for uid, declaration in self._assets.items(): + facade = declaration.facade + if facade is None or not getattr(facade, "is_spawn_bound", False): + continue + links = facade.link_names if declaration.kind == "articulation" else [None] + for instance_idx, entity in enumerate(self.handles(uid)): + for link in links: + render_body = ( + entity.get_render_body() + if link is None + else entity.get_render_body(link) + ) + if render_body is not None: + assignments[(uid, instance_idx, link)] = ( + _capture_render_materials(render_body) + ) + return assignments + + def _restore_material_assignments(self) -> None: + """Replay current assignments; retain the snapshot when preparation must retry.""" + from embodichain.lab.sim.material import _restore_render_materials + + assignments = getattr(self, "_pending_material_assignments", None) + if assignments is None: + return + for (uid, instance_idx, link), materials in assignments.items(): + if uid not in self._assets: + continue + entity = self.handles(uid)[instance_idx] + render_body = ( + entity.get_render_body() + if link is None + else entity.get_render_body(link) + ) + if render_body is None or render_body.get_mesh_count() != len(materials): + raise RuntimeError(f"Render material topology changed for {uid!r}.") + _restore_render_materials(render_body, materials) + self._pending_material_assignments = None + def bind(self) -> None: """Complete post-finalize runtime binding for declared facades. @@ -232,6 +295,7 @@ def bind(self) -> None: if result is None or not self.builder.is_finalized: raise RuntimeError("Spawn scene must be materialized before binding.") + self._restore_material_assignments() for uid, declaration in self._assets.items(): facade = declaration.facade if facade is None or not facade.is_declared: @@ -262,6 +326,7 @@ def prepare_runtime_config(self, result: Any) -> None: def close(self) -> None: """Release Spawn resources and facade references.""" result = self.builder.result + self._pending_material_assignments = None try: if result is not None: result.close() diff --git a/tests/gym/envs/managers/test_randomize_visual_material.py b/tests/gym/envs/managers/test_randomize_visual_material.py index 85cb3c821..333f0638a 100644 --- a/tests/gym/envs/managers/test_randomize_visual_material.py +++ b/tests/gym/envs/managers/test_randomize_visual_material.py @@ -184,7 +184,7 @@ def _force_tier(functor, tier: int) -> None: def _run(functor, env, env_ids: torch.Tensor | None = None) -> None: env_ids = torch.arange(env.num_envs) if env_ids is None else env_ids - functor(env, env_ids, entity_cfg=functor.entity_cfg) + functor(env, env_ids, **functor.cfg.params) def test_fallback_to_new_preserves_legacy_path(): @@ -437,3 +437,122 @@ def test_empty_reuse_state_is_a_noop(): assert functor._new_mode is True obj.apply_render_material_inst.assert_not_called() + + +@pytest.mark.parametrize("fallback", [False, True]) +def test_solid_tier_applies_requested_pbr_ranges(fallback): + env, obj, functor = _make_rigid_functor( + { + "fallback_to_new": fallback, + "random_texture_prob": 0.0, + "metallic_range": (0.9, 0.9), + "roughness_range": (0.2, 0.2), + "ior_range": (2.0, 2.0), + } + ) + _force_tier(functor, 2) + + _run(functor, env) + + instance = ( + obj.get_visual_material_inst.return_value[0] + if fallback + else functor._reuse_state[0][0].working_inst + ) + assert instance.set_metallic.call_args.args[0] == pytest.approx(0.9) + assert instance.set_roughness.call_args.args[0] == pytest.approx(0.2) + instance.set_ior.assert_called_once_with(2.0) + + +@pytest.mark.parametrize("fallback", [False, True]) +def test_shared_partial_randomization_rejects_before_any_material_write(fallback): + state = [[_segment()]] + env, obj, functor = _make_rigid_functor( + {"shared": True, "fallback_to_new": fallback}, num_envs=2, states=state + ) + obj.set_visual_material.reset_mock() + + with pytest.raises(ValueError, match="requires all environments"): + _run(functor, env, torch.tensor([0])) + + obj.set_visual_material.assert_not_called() + obj.apply_render_material_inst.assert_not_called() + state[0][0].working_inst.set_base_color.assert_not_called() + + +def test_shared_full_randomization_mutates_once_and_attaches_all_selected_rows(): + segment = _segment() + env, obj, functor = _make_rigid_functor( + {"shared": True}, num_envs=3, states=[[segment]] + ) + _force_tier(functor, 2) + + _run(functor, env, torch.tensor([2, 0, 1])) + + segment.working_inst.set_base_color_texture.assert_called_once() + assert [c.args[0] for c in obj.apply_render_material_inst.call_args_list] == [ + 2, + 0, + 1, + ] + + +@pytest.mark.parametrize("fallback", [False, True]) +def test_empty_material_selection_does_not_mutate_or_allocate(fallback): + env, obj, functor = _make_rigid_functor({"fallback_to_new": fallback}) + obj.set_visual_material.reset_mock() + env.sim.env.reset_mock() + + _run(functor, env, torch.tensor([], dtype=torch.int64)) + + obj.set_visual_material.assert_not_called() + obj.apply_render_material_inst.assert_not_called() + env.sim.env.create_color_texture.assert_not_called() + env.sim.env.clean_materials.assert_not_called() + + +def test_partial_articulation_randomization_samples_only_selected_links(): + env = _MockEnv(num_envs=3) + art = _MockArticulation(["arm", "eef"], num_envs=3) + states = [{name: [_segment()] for name in art.link_names} for _ in range(3)] + art.get_existing_visual_material = MagicMock(return_value=states) + env.sim._asset = art + env.sim.asset_uids = ["art"] + cfg = _make_cfg(uid="art") + cfg.params["entity_cfg"].link_names = art.link_names + functor = randomize_visual_material(cfg, env) + functor._sample_tiers = MagicMock(return_value=torch.tensor([2, 2])) + + _run(functor, env, torch.tensor([2])) + + functor._sample_tiers.assert_called_once_with(2) + assert all(c.args[0] == 2 for c in art.apply_render_material_inst.call_args_list) + for unselected in states[:2]: + for segments in unselected.values(): + segments[0].working_inst.set_base_color_texture.assert_not_called() + + +def test_texture_libraries_with_same_basename_remain_independent(monkeypatch, tmp_path): + first_path = tmp_path / "a" / "textures" + second_path = tmp_path / "b" / "textures" + pixels = { + str(first_path): torch.zeros((2, 2, 4), dtype=torch.uint8), + str(second_path): torch.full((2, 2, 4), 255, dtype=torch.uint8), + } + loads = [] + + def load_images(path): + loads.append(path) + return [pixels[path]] + + monkeypatch.setattr("embodichain.utils.utility.read_all_folder_images", load_images) + env = _MockEnv() + first = randomize_visual_material(_make_cfg({"texture_path": str(first_path)}), env) + second = randomize_visual_material( + _make_cfg({"texture_path": str(second_path)}), env + ) + + assert loads == [str(first_path), str(second_path)] + assert first.textures[0] is pixels[str(first_path)] + assert second.textures[0] is pixels[str(second_path)] + assert first._library_textures is not second._library_textures diff --git a/tests/sim/objects/test_articulation.py b/tests/sim/objects/test_articulation.py index 8b5ff0b33..102ea2aa3 100644 --- a/tests/sim/objects/test_articulation.py +++ b/tests/sim/objects/test_articulation.py @@ -963,18 +963,12 @@ def test_set_visual_material(self): assert ( "handle_xpos" in mat_insts[0] ), "FAIL: 'handle_xpos' not in material instances" - assert mat_insts[0]["outer_box"].base_color == [ - 0.0, - 0.0, - 1.0, - 1.0, - ], f"FAIL: 'outer_box' base color not set correctly: {mat_insts[0]['outer_box'].base_color}" - assert mat_insts[0]["handle_xpos"].base_color == [ - 0.0, - 0.0, - 1.0, - 1.0, - ], f"FAIL: 'handle_xpos' base color not set correctly: {mat_insts[0]['handle_xpos'].base_color}" + assert mat_insts[0]["outer_box"].base_color == pytest.approx( + [0.0, 0.0, 1.0] + ), f"FAIL: 'outer_box' base color not set correctly: {mat_insts[0]['outer_box'].base_color}" + assert mat_insts[0]["handle_xpos"].base_color == pytest.approx( + [0.0, 0.0, 1.0] + ), f"FAIL: 'handle_xpos' base color not set correctly: {mat_insts[0]['handle_xpos'].base_color}" # TODO: Open this test will cause segfault in CI env # def test_get_link_pose(self): diff --git a/tests/sim/objects/test_articulation_reuse_material.py b/tests/sim/objects/test_articulation_reuse_material.py index 7fed2f8a8..0ee23e6c6 100644 --- a/tests/sim/objects/test_articulation_reuse_material.py +++ b/tests/sim/objects/test_articulation_reuse_material.py @@ -30,6 +30,7 @@ def __init__(self, entities, uid, link_names): # num_instances is a read-only property on BatchEntity, driven by _entities. self._entities = entities self._all_indices = list(range(len(entities))) + self._visual_material = [{} for _ in entities] self.uid = uid self.link_names = link_names diff --git a/tests/sim/objects/test_asset_material_initialization.py b/tests/sim/objects/test_asset_material_initialization.py index a4ab33ac4..10a149d41 100644 --- a/tests/sim/objects/test_asset_material_initialization.py +++ b/tests/sim/objects/test_asset_material_initialization.py @@ -45,6 +45,7 @@ def asset_type(request): def _material(name: str): material = MagicMock(name=name) material.get_name.return_value = name + material.get_material_id.return_value = hash(name) template = MagicMock(name=f"{name}_template") template.get_name.return_value = f"{name}_template" material.get_template.return_value = template diff --git a/tests/sim/objects/test_rigid_object.py b/tests/sim/objects/test_rigid_object.py index 42e688ca5..b064bdf3e 100644 --- a/tests/sim/objects/test_rigid_object.py +++ b/tests/sim/objects/test_rigid_object.py @@ -447,12 +447,9 @@ def test_set_visual_material(self): len(material_list) == NUM_ARENAS ), f"Expected {NUM_ARENAS} materials, got {len(material_list)}" for mat_inst in material_list: - assert mat_inst.base_color == [ - 0.0, - 0.0, - 1.0, - 1.0, - ], f"Material base color incorrect: {mat_inst.base_color}" + assert mat_inst.base_color == pytest.approx( + [0.0, 0.0, 1.0] + ), f"Material base color incorrect: {mat_inst.base_color}" def test_add_cube(self): cfg_dict = { @@ -864,12 +861,9 @@ def test_misc_properties(self): len(cube_materials) == NUM_ARENAS ), f"Cube should have {NUM_ARENAS} material instances" for i in range(NUM_ARENAS): - assert cube_materials[i].base_color == [ - 0.0, - 0.0, - 1.0, - 1.0, - ], f"Material {i} base color incorrect" + assert cube_materials[i].base_color == pytest.approx( + [0.0, 0.0, 1.0] + ), f"Material {i} base color incorrect" def test_geometry_data(self): """Test mesh-level read APIs: get_triangles and scaled get_vertices. diff --git a/tests/sim/objects/test_rigid_object_reuse_material.py b/tests/sim/objects/test_rigid_object_reuse_material.py index 2571d8e09..36c6b41f0 100644 --- a/tests/sim/objects/test_rigid_object_reuse_material.py +++ b/tests/sim/objects/test_rigid_object_reuse_material.py @@ -30,6 +30,7 @@ def __init__(self, entities, uid): # num_instances is a read-only property on BatchEntity, driven by _entities. self._entities = entities self._all_indices = list(range(len(entities))) + self._visual_material = [None] * len(entities) self.uid = uid @@ -64,6 +65,8 @@ def test_get_existing_visual_material_builds_state_per_segment(): assert states[0][0].working_inst is states[0][1].working_inst seg_mats[0][1].create_inst.assert_called_once() seg_mats[1][1].create_inst.assert_not_called() + assert states[0][0].working_inst.mat is seg_mats[0][1].create_inst.return_value + seg_mats[0][1].get_inst.assert_not_called() def test_get_existing_visual_material_shared_returns_single_env(): @@ -104,3 +107,4 @@ def test_apply_render_material_inst_skips_attached_material(): obj.apply_render_material_inst(0, inst) render_body.set_material.assert_not_called() + assert obj.get_visual_material_inst()[0].mat is inst diff --git a/tests/sim/spawn/test_scene.py b/tests/sim/spawn/test_scene.py index aeea7eb87..53ef4c2ad 100644 --- a/tests/sim/spawn/test_scene.py +++ b/tests/sim/spawn/test_scene.py @@ -31,10 +31,24 @@ Robot, ) from embodichain.lab.sim.spawn.scene import SpawnScene +from dexsim.spawn import MaterialDesc pytestmark = pytest.mark.no_sim +def test_material_resolution_rejects_conflicting_explicit_definitions(): + scene = object.__new__(SpawnScene) + original = MaterialDesc(name="shared", roughness=0.2) + scene.builder = SimpleNamespace(materials={"shared": original}) + scene._usd_texture_files = SimpleNamespace(resolve=lambda materials: materials) + + assert scene._resolve_materials({"shared": original}) == {"shared": original} + with pytest.raises(ValueError, match="Conflicting visual material"): + scene._resolve_materials({"shared": MaterialDesc(name="shared", roughness=0.9)}) + + assert scene.builder.materials["shared"] is original + + def _make_scene(handles: dict[str, object]) -> SpawnScene: scene = object.__new__(SpawnScene) scene._num_envs = 1 @@ -46,6 +60,110 @@ def _make_scene(handles: dict[str, object]) -> SpawnScene: return scene +def _material_assignment_scene(kind: str): + originals = [MagicMock(name=f"original_{i}") for i in range(2)] + stale = MagicMock(name="stale_descriptor_material") + for i, material in enumerate([*originals, stale]): + material.get_name.return_value = str(i) + material.get_template.return_value.get_name.return_value = "template" + current = list(originals) + body = MagicMock(name="render_body") + body.get_mesh_count.return_value = len(current) + body.get_material.side_effect = lambda mesh_id: current[mesh_id] + body.set_material.side_effect = lambda mesh_id, material: current.__setitem__( + mesh_id, material + ) + entity = SimpleNamespace(get_render_body=lambda *args: body) + scene = _make_scene({"asset": entity}) + facade = SimpleNamespace( + is_spawn_bound=True, + is_declared=False, + link_names=["link"], + attach_spawn_handles=lambda handles: None, + ) + scene.track( + kind, "asset", SimpleNamespace(name="asset", per_env=False), facade=facade + ) + result = scene.builder.result + result.needs_rebuild = True + scene.builder.has_pending_changes = True + + def rebuild(builder): + current[:] = [stale] * len(current) + builder.has_pending_changes = False + result.needs_rebuild = False + return result + + result.rebuild = rebuild + return scene, body, current, originals + + +@pytest.mark.parametrize( + "kind", ["rigid_object", "articulation", "soft_object", "cloth_object"] +) +def test_rebuild_preserves_current_per_segment_materials_over_stale_descriptors(kind): + scene, _, current, originals = _material_assignment_scene(kind) + + scene.commit() + assert ( + current != originals + ) # Model the native rebuild consuming stale descriptions. + scene.bind() + + assert current == originals + assert scene._pending_material_assignments is None + + +def test_material_replay_retries_after_partial_native_failure(): + scene, body, current, originals = _material_assignment_scene("rigid_object") + scene.commit() + body.set_material.side_effect = RuntimeError("native assignment failed") + + with pytest.raises(RuntimeError, match="native assignment failed"): + scene.bind() + + assert scene._pending_material_assignments is not None + body.set_material.side_effect = lambda mesh_id, material: current.__setitem__( + mesh_id, material + ) + scene.bind() + assert current == originals + assert scene._pending_material_assignments is None + + +def test_removing_failed_replay_discards_materials_before_same_uid_replacement(): + scene, body, _, _ = _material_assignment_scene("rigid_object") + scene.commit() + body.set_material.side_effect = RuntimeError("native assignment failed") + with pytest.raises(RuntimeError, match="native assignment failed"): + scene.bind() + + scene.builder.remove_object = lambda name: scene._assets[name].descriptor + scene.remove("asset") + replacement_material = MagicMock(name="replacement_material") + replacement_body = MagicMock() + replacement_body.get_mesh_count.return_value = ( + 1 # Different topology from the removed object. + ) + replacement_body.get_material.return_value = replacement_material + scene.builder.result.handles["asset"] = SimpleNamespace( + get_render_body=lambda: replacement_body + ) + facade = _RetryableFacade() + scene.track( + "rigid_object", + "asset", + SimpleNamespace(name="asset", per_env=False), + facade=facade, + ) + + scene.bind() + + assert facade.bind_attempts == 1 + replacement_body.set_material.assert_not_called() + assert scene._pending_material_assignments is None + + class _RetryableFacade: def __init__(self, *, fail_first: bool = False) -> None: self._entities: list[object] = [] diff --git a/tests/sim/test_material.py b/tests/sim/test_material.py new file mode 100644 index 000000000..fd958204c --- /dev/null +++ b/tests/sim/test_material.py @@ -0,0 +1,388 @@ +# ---------------------------------------------------------------------------- +# Copyright (c) 2021-2026 DexForce Technology Co., Ltd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ---------------------------------------------------------------------------- + +"""Material identity, native state, and configuration-lowering contracts.""" + +from __future__ import annotations + +from unittest.mock import MagicMock +from types import SimpleNamespace + +import numpy as np +import pytest +import torch + +from embodichain.lab.sim.material import ( + VisualMaterial, + VisualMaterialCfg, + VisualMaterialInst, +) +from embodichain.lab.sim.material import _set_render_material +from embodichain.lab.sim.sim_manager import SimulationManager +from embodichain.lab.sim.spawn.descriptors import _compile_visual_material +from embodichain.lab.sim.spawn.scene import SpawnScene +from embodichain.lab.sim.objects.rigid_object_group import RigidObjectGroup +from embodichain.lab.gym.envs.managers.cfg import SceneEntityCfg +from embodichain.lab.gym.envs.managers.randomization.visual import ( + set_rigid_object_group_visual_material, +) + +pytestmark = pytest.mark.no_sim + + +def test_material_assignment_uses_native_identity_even_when_names_match(): + original = MagicMock(name="original_handle") + replacement = MagicMock(name="replacement_handle") + for native in (original, replacement): + native.get_name.return_value = "same_name" + native.get_template.return_value.get_name.return_value = "same_template" + original.get_material_id.return_value = 1 + replacement.get_material_id.return_value = 2 + body = MagicMock() + body.get_material.return_value = original + + _set_render_material(body, 0, replacement) + + body.set_material.assert_called_once_with(0, replacement) + + +def _native_template() -> MagicMock: + template = MagicMock(name="template") + instances = {} + + def get_instance(uid=""): + if uid not in instances: + state = { + "base_color": [0.5, 0.5, 0.5, 1.0], + "metallic": 0.0, + "roughness": 0.7, + "ior": 1.5, + "emissive": [0.0, 0.0, 0.0, 1.0], + } + native = MagicMock(name=uid) + native.get_name.return_value = uid + native.get_template.return_value = template + native.get_base_color_map.return_value = None + for field in state: + getattr(native, f"get_{field}").side_effect = lambda key=field: state[ + key + ] + getattr(native, f"set_{field}").side_effect = ( + lambda value, key=field: state.__setitem__(key, value) + ) + native.set_pbr_param.side_effect = lambda key, value: state.__setitem__( + key, value + ) + instances[uid] = native + return instances[uid] + + template.get_inst.side_effect = get_instance + return template + + +def test_repeated_instance_creation_preserves_identity_properties_and_capacity(): + material = VisualMaterial(VisualMaterialCfg(uid="paint"), _native_template()) + instance = material.create_instance("object") + instance.set_roughness(0.2) + instance.mat.reset_mock() + + for _ in range(1025): # Exceeds the historical bounded-texture stress case. + assert material.create_instance("object") is instance + assert material.get_instance("object") is instance + + assert instance.roughness == pytest.approx(0.2) + assert len(material._instances) == 2 # Template default plus one object instance. + instance.mat.set_roughness.assert_not_called() + + +def test_instance_properties_read_current_native_values(): + material = VisualMaterial(VisualMaterialCfg(uid="paint"), _native_template()) + instance = material.create_instance("object") + instance.mat.set_roughness(0.9) + instance.mat.set_metallic(0.6) + instance.mat.set_base_color([0.1, 0.2, 0.3, 1.0]) + instance.mat.set_pbr_param("ior", 2.0) + + queried = material.get_instance("object") + + assert queried.roughness == pytest.approx(0.9) + assert queried.metallic == pytest.approx(0.6) + assert queried.ior == pytest.approx(2.0) + assert queried.base_color == pytest.approx([0.1, 0.2, 0.3]) + + +@pytest.mark.parametrize( + ("setter", "value", "native_setter"), + [ + ("set_base_color", [0.1, 0.2, 0.3, 1.0], "set_base_color"), + ("set_metallic", 0.8, "set_metallic"), + ("set_roughness", 0.2, "set_roughness"), + ("set_emissive", [0.1, 0.2, 0.3], "set_emissive"), + ("set_ior", 2.0, "set_pbr_param"), + ("set_base_color_texture", "color.png", "set_base_color_map"), + ("set_metallic_texture", "metal.png", "set_metallic_map"), + ("set_roughness_texture", "rough.png", "set_roughness_map"), + ("set_normal_texture", "normal.png", "set_normal_map"), + ("set_ao_texture", "ao.png", "set_ao_map"), + ], +) +def test_asset_wrapper_setters_use_exact_existing_handle(setter, value, native_setter): + template = _native_template() + original = template.get_inst("parsed") + wrapper = VisualMaterialInst.from_existing(original) + template.reset_mock() + + getattr(wrapper, setter)(value) + + assert wrapper.mat is original + template.get_inst.assert_not_called() + getattr(original, native_setter).assert_called_once() + + +@pytest.mark.parametrize("intensity", [0.0, 1.0, 10.0]) +@pytest.mark.parametrize("material_type", ["BRDF", "BTDF", "BSDF"]) +def test_runtime_and_spawn_lower_identical_material_properties( + intensity, material_type +): + cfg = VisualMaterialCfg( + uid="paint", + base_color=[0.1, 0.2, 0.3, 0.5], + metallic=0.8, + roughness=0.2, + emissive=[0.2, 0.3, 0.4], + emissive_intensity=intensity, + material_type=material_type, + ior=2.0, + ) + _, (_, descriptor) = _compile_visual_material("object", cfg) + material = VisualMaterial(cfg, _native_template()) + native = material.inst.mat + + assert material.inst.base_color == pytest.approx(descriptor.base_color[:3]) + assert material.inst.metallic == pytest.approx(descriptor.metallic) + assert material.inst.roughness == pytest.approx(descriptor.roughness) + assert material.inst.ior == pytest.approx(descriptor.ior) + np.testing.assert_allclose( + native.set_emissive.call_args.args[0], descriptor.emissive + ) + native.update_pbr_material_type.assert_called_once_with(descriptor.material_type) + assert descriptor.has_alpha is True + + +def test_emissive_intensity_can_be_zero_then_restored_without_losing_rgb(): + instance = VisualMaterial( + VisualMaterialCfg(uid="glow", emissive=[0.2, 0.3, 0.4]), _native_template() + ).inst + + instance.set_emissive_intensity(0.0) + np.testing.assert_allclose(instance.mat.get_emissive(), [0.0, 0.0, 0.0, 1.0]) + instance.set_emissive_intensity(2.0) + + np.testing.assert_allclose(instance.mat.get_emissive(), [0.4, 0.6, 0.8, 1.0]) + assert instance.emissive == pytest.approx([0.2, 0.3, 0.4]) + + +@pytest.mark.parametrize( + "properties", + [ + {"base_color": [1.0, 0.0, 0.0]}, + {"base_color": [1.0, 0.0, 0.0, 2.0]}, + {"emissive": [0.0, 0.0]}, + {"metallic": float("nan")}, + {"roughness": 1.1}, + {"ior": 0.0}, + {"emissive_intensity": -1.0}, + {"emissive": [1e308, 0.0, 0.0], "emissive_intensity": 1e308}, + {"material_type": "unknown"}, + ], +) +def test_invalid_material_config_is_rejected_before_native_instance_creation( + properties, +): + cfg = VisualMaterialCfg(uid="invalid", **properties) + template = _native_template() + + with pytest.raises(ValueError): + VisualMaterial(cfg, template) + with pytest.raises(ValueError): + _compile_visual_material("object", cfg) + + template.get_inst.assert_not_called() + + +def test_unnamed_inline_materials_have_independent_object_scoped_names(): + red_ref, (_, red) = _compile_visual_material( + "red", VisualMaterialCfg(base_color=[1, 0, 0, 1]) + ) + blue_ref, (_, blue) = _compile_visual_material( + "blue", VisualMaterialCfg(base_color=[0, 0, 1, 1]) + ) + definitions = {red_ref: red, blue_ref: blue} + + assert len(definitions) == 2 + assert definitions[red_ref].base_color == (1.0, 0.0, 0.0, 1.0) + assert definitions[blue_ref].base_color == (0.0, 0.0, 1.0, 1.0) + + +def _material_manager(): + manager = SimulationManager.__new__(SimulationManager) + manager._visual_materials = {} + manager._require_native_renderer = MagicMock() + manager._env = MagicMock() + manager._env.find_material.return_value = None + manager._env.create_pbr_material.side_effect = lambda *args: _native_template() + scene = SpawnScene.__new__(SpawnScene) + scene.builder = SimpleNamespace(materials={}) + scene._usd_texture_files = SimpleNamespace(resolve=lambda materials: materials) + manager._spawn_scene = scene + return manager + + +def test_explicit_runtime_uid_reuses_only_equivalent_definitions(): + manager = _material_manager() + cfg = VisualMaterialCfg(uid="shared") + + first = manager.create_visual_material(cfg) + assert manager.create_visual_material(cfg.copy()) is first + with pytest.raises(ValueError, match="Conflicting visual material"): + manager.create_visual_material(cfg.replace(roughness=0.1)) + + manager._env.create_pbr_material.assert_called_once() + + +def test_unnamed_runtime_materials_receive_distinct_ids_without_mutating_config(): + manager = _material_manager() + cfg = VisualMaterialCfg() + + first = manager.create_visual_material(cfg) + second = manager.create_visual_material(cfg) + + assert first.uid != second.uid + assert cfg.uid is None + + +@pytest.mark.parametrize("runtime_first", [False, True]) +def test_explicit_uid_conflicts_are_rejected_across_creation_paths(runtime_first): + manager = _material_manager() + runtime_cfg = VisualMaterialCfg(uid="shared", base_color=[1, 0, 0, 1]) + _, (uid, inline_desc) = _compile_visual_material( + "object", VisualMaterialCfg(uid="shared", base_color=[0, 0, 1, 1]) + ) + scene = manager._spawn_scene + if runtime_first: + manager.create_visual_material(runtime_cfg) + with pytest.raises(ValueError, match="Conflicting visual material"): + scene._resolve_materials({uid: inline_desc}) + else: + scene.builder.materials.update(scene._resolve_materials({uid: inline_desc})) + with pytest.raises(ValueError, match="Conflicting visual material"): + manager.create_visual_material(runtime_cfg) + manager._env.create_pbr_material.assert_not_called() + + +def test_equivalent_inline_material_uses_configured_native_default_after_runtime_creation(): + from dexsim.spawn.adapters.common import _create_render_material + + manager = _material_manager() + cfg = VisualMaterialCfg(uid="shared", base_color=[1, 0, 0, 1]) + runtime = manager.create_visual_material(cfg) + manager._env.find_material.return_value = runtime.mat + _, (_, descriptor) = _compile_visual_material("object", cfg) + manager._spawn_scene._resolve_materials({"shared": descriptor}) + + native = _create_render_material( + SimpleNamespace(get_env=lambda: manager._env), descriptor + ) + + assert native is runtime.inst.mat + assert list(native.get_base_color())[:3] == [1.0, 0.0, 0.0] + + +def test_equivalent_runtime_alias_preserves_native_state_from_inline_material(): + manager = _material_manager() + cfg = VisualMaterialCfg(uid="shared", roughness=0.2) + _, (_, descriptor) = _compile_visual_material("object", cfg) + manager._spawn_scene.builder.materials["shared"] = descriptor + native = _native_template() + native.get_inst().set_roughness(0.8) + native.get_inst().reset_mock() + manager._env.find_material.return_value = native + + alias = manager.create_visual_material(cfg) + + assert alias.inst.roughness == pytest.approx(0.8) + alias.inst.mat.set_roughness.assert_not_called() + manager._env.create_pbr_material.assert_not_called() + + +def test_cleaning_materials_preserves_world_lifetime_definition_identity(): + manager = _material_manager() + cfg = VisualMaterialCfg(uid="reserved", roughness=0.2) + manager.create_visual_material(cfg) + + manager.clean_materials() + + assert manager.get_visual_material("reserved") is None + manager._env.clean_materials.assert_called_once() + with pytest.raises(ValueError, match="Conflicting visual material"): + manager.create_visual_material(cfg.replace(roughness=0.9)) + assert manager.create_visual_material(cfg).cfg.roughness == 0.2 + + +def test_implicit_names_allow_replacement_and_reuse_equal_material_definitions(): + cfg = VisualMaterialCfg(base_color=[1, 0, 0, 1]) + first_ref, first_entry = _compile_visual_material("object", cfg) + second_ref, second_entry = _compile_visual_material( + "object", cfg.replace(base_color=[0, 0, 1, 1]) + ) + repeated_ref, _ = _compile_visual_material("object", cfg.copy()) + scene = _material_manager()._spawn_scene + scene.builder.materials.update(scene._resolve_materials(dict([first_entry]))) + scene.builder.materials.update(scene._resolve_materials(dict([second_entry]))) + + assert first_ref != second_ref + assert repeated_ref == first_ref + assert len(scene.builder.materials) == 2 + + +def test_deterministic_group_reset_reapplies_properties_only_to_selected_environments(): + material = VisualMaterial( + VisualMaterialCfg(uid="fixed", roughness=0.2), _native_template() + ) + group = RigidObjectGroup.__new__(RigidObjectGroup) + group.uid = "group" + group._entities = [[MagicMock()], [MagicMock()]] + group._selected_indices = lambda env_ids: (env_ids, None, None) + sim = SimpleNamespace( + get_rigid_object_group_uid_list=lambda: ["group"], + get_rigid_object_group=lambda uid: group, + create_visual_material=lambda cfg: material, + ) + env = SimpleNamespace(sim=sim, num_envs=2) + set_rigid_object_group_visual_material( + env, None, SceneEntityCfg(uid="group"), material.cfg + ) + first = material.get_instance("fixed_group_0") + second = material.get_instance("fixed_group_1") + first.set_roughness(0.9) + second.set_roughness(0.9) + + set_rigid_object_group_visual_material( + env, torch.tensor([1]), SceneEntityCfg(uid="group"), material.cfg + ) + + assert first.roughness == pytest.approx(0.9) + assert second.roughness == pytest.approx(0.2) diff --git a/tests/sim/test_material_integration.py b/tests/sim/test_material_integration.py new file mode 100644 index 000000000..eacb842be --- /dev/null +++ b/tests/sim/test_material_integration.py @@ -0,0 +1,242 @@ +# ---------------------------------------------------------------------------- +# Copyright (c) 2021-2026 DexForce Technology Co., Ltd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ---------------------------------------------------------------------------- + +"""Native material parity and restore/rebuild qualification for DexSim 0.5.1rc1.""" + +from __future__ import annotations + +import numpy as np +import pytest +import torch +from types import SimpleNamespace + +from embodichain.lab.sim import ( + SimulationManager, + SimulationManagerCfg, + VisualMaterialCfg, +) +from embodichain.lab.sim.cfg import ( + RenderCfg, + RigidObjectCfg, + VisualObjectCfg, + physics_cfg_for_backend, +) +from embodichain.lab.sim.shapes import CubeCfg +from embodichain.lab.gym.envs.managers import FunctorCfg +from embodichain.lab.gym.envs.managers.cfg import SceneEntityCfg +from embodichain.lab.gym.envs.managers.randomization.visual import ( + randomize_visual_material, +) + +pytestmark = [pytest.mark.requires_sim, pytest.mark.renderer] + + +@pytest.mark.parametrize("physics", ["default", "newton"]) +def test_native_material_creation_reset_and_topology_rebuild(physics): + sim = SimulationManager( + SimulationManagerCfg( + headless=True, + device="cpu", + num_envs=2, + scene_node_capacity=128, + physics_cfg=physics_cfg_for_backend(physics), + render_cfg=RenderCfg(renderer="hybrid"), + ) + ) + obj = other = runtime = None + cfg = VisualMaterialCfg( + base_color=[0.8, 0.1, 0.2, 1.0], + metallic=0.3, + roughness=0.2, + emissive=[0.1, 0.2, 0.3], + emissive_intensity=2.0, + ior=1.7, + ) + try: + obj = sim.add_rigid_object( + RigidObjectCfg( + uid="red", + body_type="static", + init_pos=(0.0, 0.0, 0.5), + shape=CubeCfg(size=(0.1, 0.1, 0.1), visual_material=cfg), + ) + ) + other = sim.add_visual_object( + VisualObjectCfg( + uid="blue", + shape=CubeCfg( + size=(0.1, 0.1, 0.1), + visual_material=VisualMaterialCfg(base_color=[0.1, 0.2, 0.8, 1.0]), + ), + ) + ) + sim.prepare() + initial_names = [m.mat.get_name() for m in obj.get_visual_material_inst()] + assert obj.get_visual_material_inst()[0].base_color == pytest.approx( + cfg.base_color[:3], abs=1e-5 + ) + assert other.get_visual_material_inst()[0].base_color == pytest.approx( + [0.1, 0.2, 0.8], abs=1e-5 + ) + + runtime = sim.create_visual_material(cfg.replace(uid="runtime")) + shared_visual = sim.add_visual_object( + VisualObjectCfg( + uid="runtime_copy", + shape=CubeCfg( + size=(0.1, 0.1, 0.1), visual_material=cfg.replace(uid="runtime") + ), + ) + ) + assert shared_visual.get_visual_material_inst()[0].base_color == pytest.approx( + cfg.base_color[:3], abs=1e-5 + ) + assert sim.remove_asset("runtime_copy") + del shared_visual + borrowed_cfg = VisualMaterialCfg(uid="borrowed_state", roughness=0.2) + borrowed_visual = sim.add_visual_object( + VisualObjectCfg( + uid="borrowed_visual", + shape=CubeCfg(size=(0.1, 0.1, 0.1), visual_material=borrowed_cfg), + ) + ) + native_template = sim.get_env().find_material("borrowed_state") + native_template.get_inst().set_roughness(0.8) + borrowed = sim.create_visual_material(borrowed_cfg) + assert borrowed.inst.roughness == pytest.approx(0.8) + assert native_template.get_inst().get_roughness() == pytest.approx(0.8) + assert sim.remove_asset("borrowed_visual") + del borrowed, borrowed_visual, native_template + parsed = obj.get_visual_material_inst()[0] + assert parsed.roughness == pytest.approx(runtime.inst.roughness) + assert parsed.metallic == pytest.approx(runtime.inst.metallic) + assert parsed.ior == pytest.approx(runtime.inst.ior) + np.testing.assert_allclose( + parsed.mat.get_emissive(), runtime.inst.mat.get_emissive(), atol=1e-5 + ) + del parsed + + obj.set_visual_material(runtime, [1]) + selected = obj.get_visual_material_inst([1])[0] + selected.set_roughness(0.6) + assert selected.mat.get_roughness() == pytest.approx(0.6) + assert runtime.get_instance(selected.uid) is selected + del selected + obj.restore_visual_material([1]) + + # Adding/removing a different asset rebuilds Newton's native render resources. + extra = sim.add_visual_object( + VisualObjectCfg(uid="extra", shape=CubeCfg(size=(0.1, 0.1, 0.1))) + ) + assert [ + m.mat.get_name() for m in obj.get_visual_material_inst() + ] == initial_names + assert [ + entity.get_render_body().get_material(0).get_name() + for entity in obj._entities + ] == initial_names + assert sim.remove_asset("extra") + del extra + sim.prepare() + assert [ + entity.get_render_body().get_material(0).get_name() + for entity in obj._entities + ] == initial_names + + # A current, intentional replacement must also survive a later rebuild. + obj.set_visual_material(runtime, [1]) + selected_name = obj.get_visual_material_inst([1])[0].mat.get_name() + assert sim.remove_asset("blue") + sim.prepare() + assert ( + obj._entities[0].get_render_body().get_material(0).get_name() + == initial_names[0] + ) + assert ( + obj._entities[1].get_render_body().get_material(0).get_name() + == selected_name + ) + obj.reset([1]) + assert ( + obj._entities[1].get_render_body().get_material(0).get_name() + == initial_names[1] + ) + + # Repeated partial randomization retains native instance capacity and the other row. + event_cfg = FunctorCfg(func=randomize_visual_material) + event_cfg.params = { + "entity_cfg": SceneEntityCfg(uid="red"), + "p_solid": 1.0, + "solid_texture_count": 2, + "metallic_range": (0.9, 0.9), + "roughness_range": (0.2, 0.2), + "ior_range": (2.0, 2.0), + } + env = SimpleNamespace(sim=sim, num_envs=2, device=torch.device("cpu")) + randomizer = randomize_visual_material(event_cfg, env) + selected_ids = torch.tensor([1]) + randomizer(env, selected_ids, **event_cfg.params) + template_counts = [ + segments[0].working_inst.mat.get_template().inst_count() + for segments in randomizer._reuse_state + ] + for _ in range(1025): + randomizer(env, selected_ids, **event_cfg.params) + assert [ + segments[0].working_inst.mat.get_template().inst_count() + for segments in randomizer._reuse_state + ] == template_counts + assert obj.get_visual_material_inst([1])[0].metallic == pytest.approx(0.9) + assert obj.get_visual_material_inst([1])[0].roughness == pytest.approx(0.2) + assert obj.get_visual_material_inst([1])[0].ior == pytest.approx(2.0) + assert ( + obj._entities[0].get_render_body().get_material(0).get_name() + == initial_names[0] + ) + del randomizer, env + + replacement_cfg = RigidObjectCfg( + uid="red", + body_type="static", + init_pos=(0.0, 0.0, 0.5), + shape=CubeCfg( + size=(0.1, 0.1, 0.1), + visual_material=VisualMaterialCfg(base_color=[0.1, 0.2, 0.8, 1.0]), + ), + ) + obj = sim.replace_rigid_object(replacement_cfg) + assert obj.get_visual_material_inst()[0].base_color == pytest.approx( + [0.1, 0.2, 0.8], abs=1e-5 + ) + definition_count = len(sim._spawn_scene.builder.materials) + obj = sim.replace_rigid_object(replacement_cfg.copy()) + assert len(sim._spawn_scene.builder.materials) == definition_count + assert sim.remove_asset("red") + obj = sim.add_rigid_object( + replacement_cfg.replace( + shape=CubeCfg( + size=(0.1, 0.1, 0.1), + visual_material=VisualMaterialCfg(base_color=[0.1, 0.8, 0.2, 1.0]), + ) + ) + ) + assert obj.get_visual_material_inst()[0].base_color == pytest.approx( + [0.1, 0.8, 0.2], abs=1e-5 + ) + finally: + sim.destroy(exit_process=False) + del obj, other, runtime + SimulationManager.flush_cleanup_queue() From 178a421f03ca7e89758109b3dedd3fedeacd6409 Mon Sep 17 00:00:00 2001 From: yuecideng Date: Fri, 23 Oct 2026 00:46:47 +0800 Subject: [PATCH 02/10] docs(sim): streamline material acceptance guidance --- .../visual-material-acceptance.md | 157 ++++++------------ 1 file changed, 53 insertions(+), 104 deletions(-) diff --git a/docs/architecture/visual-material-acceptance.md b/docs/architecture/visual-material-acceptance.md index bf79e4b0f..160dfc4b3 100644 --- a/docs/architecture/visual-material-acceptance.md +++ b/docs/architecture/visual-material-acceptance.md @@ -1,75 +1,35 @@ -# VisualMaterial 设计与正确性验收 +# Visual material acceptance -## 适用版本与运行环境 +Target `dexsim_engine==0.5.1rc1` with its matching Python wheel, Warp `1.17.0` +and Newton `1.6.0`. Install the repository with its bundled extensions before +running the checks. See [material contracts](../../agent_context/topics/simulation-system/materials.md) +for implementation ownership and lifecycle rules. -本方案针对 `dexsim_engine==0.5.1rc1`，使用该版本要求的 -`warp-lang==1.17.0`、`newton[sim]==1.6.0`。验收必须读取实际导入环境的版本， -不能用修改包元数据、旧版替身或源码隔离探针替代原生集成结果。 +## Acceptance criteria -本次复现环境为独立虚拟环境 `/tmp/embodichain-material-rc1`，底层 Python 3.10， -GPU 为 NVIDIA GeForce RTX 5090。本机 wheel 来自 -`~/Downloads/build_vcpkg-linux-cuda-py310/build_Release/lib/python_package/pip_package/`。 -其他机器使用同版本、匹配 Python ABI 的正式 wheel，并把下方 `python` 指向对应环境。 +| Boundary | Required behavior | +| --- | --- | +| Identity and aliases | Unnamed materials keep independent appearances. Explicit UID conflicts fail across runtime and Spawn creation in either order. Equivalent aliases and repeated instance creation preserve native state. | +| PBR conversion | Both creation paths agree for BRDF/BTDF/BSDF, emission intensities 0/1/10 and nondefault scalar properties. Invalid values fail before native writes. RGBA writes retain alpha; RGB getters cannot verify it. | +| Native handles | Imported and working instances update their exact native handles. Material IDs distinguish different instances with identical names. | +| Selection and reset | Empty selections do nothing; invalid indices and partial shared selections fail before writes. Independent updates affect selected environments only. Deterministic rigid-object and group resets restore selected properties. | +| Randomization resources | Solid and library tiers honor scalar PBR ranges. Shared instances are mutated once per call. Different source directories remain separate; warmed texture pools and instance registries do not grow on repeated calls. | +| Rebuilds and replacement | Current per-segment assignments survive reset and topology rebuilds. Failed replay can retry; removal discards old snapshots before same-UID replacement. Equal replacement definitions reuse registration. | +| Native qualification | Hybrid scenes with two environments pass on Default and Newton. After 1,025 partial randomizations per backend, native instance counts remain stable, requested properties hold, and the other environment is unchanged. | -```bash -python -c 'from importlib.metadata import version; import dexsim; assert version("dexsim-engine") == "0.5.1rc1"; print(dexsim.__file__, version("warp-lang"), version("newton"))' -``` +Use fixed sampling ranges to test requested properties deterministically. +Use floating-point comparisons with an absolute tolerance of `1e-5` for native +color round trips. Solid palette colors include uint8 quantization and finite +palette sampling; they do not represent arbitrary continuous colors. -## 设计契约 - -- `VisualMaterialCfg` 描述材质；`material.py:_material_desc_from_cfg` 是运行时和 - Spawn 共用的属性校验、发光强度和材质类型转换边界。 -- 未命名材质的 `uid=None`。形状声明使用对象范围及标准化外观指纹生成名字，允许同 UID - 对象更换外观，并复用相同定义；独立运行时创建使用唯一名字。两条路径共用定义注册表， - 显式相同 UID 只允许等价定义复用，不同定义在原生写入前报错。等价别名保留已有运行时编辑。 -- 一个模板内每个 UID 对应一个稳定的 `VisualMaterialInst`。重复创建、查询不修改实例， - 不追加重复登记，也不重复写默认属性。需要重设时显式调用 `set_default_properties`； - 确定性刚体和群组 reset 事件负责这个操作。 -- 实例持有确定的原生句柄。包装导入资产、创建复用实例后，所有 setter 操作同一句柄。 - 材质身份使用原生 material ID，不能仅依赖模板名与实例名。 -- metallic、roughness、IOR 和颜色读取真实原生状态。`0.5.1rc1` 的颜色 getter 只暴露 - display-sRGB 的 RGB，因此 `instance.base_color` 返回 RGB；配置和 - `set_base_color` 继续接收 RGBA。不能根据 getter 声称验证了 alpha。 -- 发光 RGB 与非负强度相乘；零强度可恢复。两条创建路径使用同一转换， - `BRDF/BTDF/BSDF` 都传递给原生材质。 -- 非共享随机化仅影响所选环境；共享随机化要求选择全部环境，并且只采样、修改一次。 - 空选择是无操作；重复、越界或非整数环境索引必须在材质写入前失败。 -- 纯色分支保留有界纹理色板，同时应用配置的 metallic、roughness 和 IOR 范围。 - 相同规范化路径共享纹理缓存；不同路径即使目录同名也不能混用。 -- Spawn 在拓扑重建前保存已绑定对象的当前逐段材质，在绑定阶段重放。 - 保存的是当前状态，reset 基线仍由对象持有。重放失败时保留快照，成功后释放； - 移除对象时丢弃它的待重放记录，不能把旧对象快照写给同 UID 的新对象。 - -## 自动化验收矩阵 - -| 层级 | 用例与独立判据 | 覆盖入口 | 通过标准 | -|---|---|---|---| -| CPU：实例身份 | 同 UID 创建/查询 1,025 次；先修改属性再重复查询 | 模板、实例 | 包装器身份稳定；属性保留；登记容量只与唯一 UID 数有关；缓存命中无原生属性写入 | -| CPU：原生句柄 | 资产包装器对颜色、PBR 和各纹理通道写入 | `from_existing`、工作实例 | 原始句柄接收写入；不再按名字寻找替代实例 | -| CPU：身份比较 | 两个句柄名字相同、material ID 不同 | 逐段赋值 | 必须发生重新绑定；相同 ID 的等价句柄跳过重复绑定 | -| CPU：创建一致性 | 三种材质类型 × 强度 0、1、10；非默认颜色、roughness、metallic、IOR | 运行时与 Spawn | 两条路径提交相同属性；alpha 写入与启用标志保留 | -| CPU：非法输入 | 错误颜色维度、NaN、越界因子、非正 IOR、负发光强度、未知类型 | 两条创建路径 | 原生实例创建前失败 | -| CPU：命名与冲突 | 两个未命名红/蓝材质；显式同 UID 的等价与冲突定义 | Manager、Spawn | 独立材质不串色；等价复用；冲突失败且原注册不变 | -| CPU：跨入口别名 | 两个创建顺序；已有原生属性修改后创建等价运行时别名 | 共用定义注册表、原生默认实例 | 两个方向都拒绝冲突；等价别名不重置属性；Native 默认实例不出现未初始化灰色 | -| CPU：群组 reset | 群组实例修改属性后重放确定性事件 | 群组 setter、固定材质事件 | 所选环境恢复配置；未选环境保留修改 | -| CPU：环境选择 | 空集、非连续选择、共享局部选择、共享全量乱序选择 | 复用与回退路径 | 非目标环境无写入；共享局部选择拒绝；共享全量只修改一次 | -| CPU：随机化参数 | 固定 PBR 范围；仅重置一个关节体环境 | 纯色、纹理库、回退 | 固定范围精确生效；仅为所选环境/链接采样 | -| CPU：资源上界 | 多次调用与两个同名纹理目录 | 纹理缓存、色板 | 预热后无纹理创建；不同来源各自加载；同一来源复用 | -| CPU：重建与失败恢复 | 陈旧原生描述模拟重建；逐段重放中途失败 | 刚体、关节体、体/面可变形对象 | 当前材质逐段恢复；失败后重试成功；成功后快照释放 | -| CPU：失败后替换 | 重放失败后移除，再添加相同 UID、不同段数的新对象 | Spawn 移除与重试 | 旧快照被丢弃；新对象的材质与默认值不被污染 | -| 原生：Hybrid | 两环境，Default 与 Newton；独立红/蓝材质；临时赋值→恢复→增删其他对象 | Manager、Spawn、刚体、纯渲染对象 | 原生颜色/PBR 与配置一致；当前替换和 reset 结果在重建后保留；另一环境不变 | -| 原生：持续复用 | 每个后端执行 1,025 次局部随机化，读取原生模板实例数与最终属性 | 原生工作实例、PBR、选择隔离 | 预热后原生实例数不增长；所选范围生效；未选环境保留原材质 | -| 原生：替换与别名 | 同 UID 改色替换、相同定义重复替换、移除后重加、两个入口的等价别名 | Default 与 Newton | 外观正确改变；相同定义不新增登记；别名不重置已编辑原生属性 | - -浮点比较采用 `pytest.approx`；原生颜色往返绝对容差为 `1e-5`。 -随机化逻辑用固定范围验证参数生效，避免以随机采样“恰好不同”作为测试判据。 -纹理色板的颜色受 uint8 量化及有限色板分布影响，不应要求每次产生任意连续颜色。 - -## 执行命令 - -CPU 与原生测试分开执行，保持原生资源串行使用。 +## Commands + +Verify the actual runtime, then run CPU and native checks separately. Keep +native resource tests serial. ```bash +python -c 'from importlib.metadata import version; import dexsim; assert version("dexsim-engine") == "0.5.1rc1"; print(version("warp-lang"), version("newton"))' + python -m pytest -q -m 'not requires_sim and not gpu' \ tests/sim/test_material.py tests/sim/test_material_texture_obj.py \ tests/sim/test_material_cache_config.py \ @@ -89,42 +49,31 @@ python docs/scripts/check_api_docs.py python .agents/skills/project-dev-context/scripts/context.py check ``` -## 本次执行记录（2026-10-23） - -使用上面的独立环境和真实 rc1 wheel；项目以 editable 方式安装，包含官方机器人与任务扩展。 -CPU 结果中的 4 个 deselected 用例由资源标签排除，不计入通过数。 - -| 检查 | 实际结果 | -|---|---| -| 扩展 CPU 回归（含 Spawn、配置与 Gym 配置加载） | 685 passed，4 deselected，12.37 s | -| 原生 Hybrid / Default + Newton | 4 passed，17.83 s；每个后端包含 1,025 次持续局部随机化 | -| 项目上下文测试 | 42 passed | -| Black 26.3.1 全仓检查 | 1,506 个 Python 文件无需更改 | -| 公共 API 文档覆盖 | 2,805 / 2,805，零遗漏 | -| 上下文链接与路由、diff 空白检查 | 通过 | - -API、引擎生命周期和 HPC 三个独立复核发现的群组 reset、跨入口身份、同 UID 替换、 -失败后快照和等价别名状态问题均已修正并补测。此记录不包含下面的光学图像和长期显存资格项目。 - -## 兼容性与后续发布验收 - -旧配置如果显式保存了 `uid: default_mat`，它现在是一个显式共享名字；需要独立外观时 -删除该字段或指定不同 UID。`get_instance` 和同 UID 的 `create_instance` 返回同一包装器， -不再隐式重置属性；旧调用者若依赖重复创建覆盖属性，应改为显式应用配置。 -读取颜色的调用者应接受原生 RGB；RGBA 写入保持支持。 -`clean_materials()` 清理运行时包装器和未使用的原生缓存，已登记的显式 UID 定义在 World -生命周期内保持身份，避免现有场景或原生句柄被同名不同属性的定义悄悄替换；不同定义使用新 UID。 - -这组测试验收的是材质状态、资源上界和生命周期，不能等同于完整光学图像验收。 -发布时还应在独立 FastRT 进程增加以下资格验证，并保存带环境信息的图片： - -1. 同一灯光、相机、曝光与几何下，BRDF/BTDF/BSDF 的反射和透射表现；透明物体后放置对照色块。 -2. 发光强度 0、1、10 的暗室对照；比较数值与图像，避免仅凭亮度饱和判断强度。 -3. 带多个材质段的 URDF/网格、关节体与可变形对象，在局部 reset 和拓扑重建后保持各段材质。 -4. 文件、Tensor 与原生 Texture 三种输入的颜色空间、法线贴图方向和重复绑定行为。 -5. 记录 10,000 次 reset 的原生实例数、纹理数和 VRAM。区分预热缓存与持续增长， - 不把 Torch 分配器统计当成全部 Vulkan/OptiX 显存。 - -每次验收记录：提交/工作树、实际 wheel 路径与版本、Python/Warp/Newton、GPU/驱动、 -后端与渲染器、命令、通过/失败/跳过项及原因。任何未执行的图像或后端矩阵保持待验证， -不能由 CPU mock 测试替代。 +## Compatibility + +- `base_color` reads return native display-sRGB RGB; configuration and writes + still accept RGBA. +- Unnamed configurations use `uid=None`. Remove an old explicit + `uid: default_mat` or assign distinct UIDs when independent appearances are required. +- Repeated `create_instance(uid)` preserves identity and state. Use + `set_default_properties()` for an explicit property reset. +- Explicit definitions remain reserved for the World lifetime, including after + `clean_materials()` releases runtime wrappers and unused native resources. +- Shared material randomization requires all environments; partial selections + are rejected. + +## Release qualification + +State and lifecycle checks do not establish optical correctness. Before release: + +- Compare BRDF/BTDF/BSDF reflection, transmission, alpha and emission intensities + 0/1/10 in a separate FastRT process with controlled lighting, camera and exposure. +- Check multi-material meshes, URDF articulations and deformables across partial + reset and rebuilds. Compare file, Tensor and native Texture inputs for color + space, normal-map direction and rebinding behavior. +- Run 10,000 resets while recording native instance counts, texture counts and + VRAM. Distinguish warmup caches from sustained growth; Torch allocator statistics + do not cover all Vulkan/OptiX memory. + +Record run-specific environment details, timings, results and unexecuted checks +in the PR description. From 6a421715ef7e8ed16abbcfa27ece5df710401b20 Mon Sep 17 00:00:00 2001 From: yuecideng Date: Fri, 23 Oct 2026 17:08:50 +0800 Subject: [PATCH 03/10] feat(sim): unify default material presets with VisualMaterialCfg --- agent_context/MAP.yaml | 8 +- .../topics/data-assets/data-assets.md | 21 + .../topics/simulation-system/materials.md | 26 +- .../visual-material-acceptance.md | 39 + .../embodichain.lab.sim.material.rst | 80 ++ docs/source/api_reference/public_api.rst | 48 ++ embodichain/data/__init__.py | 3 + embodichain/data/assets/materials.py | 114 ++- embodichain/data/default_materials.json | 787 ++++++++++++++++++ embodichain/data/default_materials.py | 69 ++ embodichain/data/download.py | 8 +- embodichain/lab/sim/_material_presets.py | 391 +++++++++ embodichain/lab/sim/material.py | 183 +++- embodichain/lab/sim/sim_manager.py | 25 +- embodichain/lab/sim/spawn/scene.py | 86 +- examples/sim/rendering/default_materials.py | 356 ++++++++ setup.py | 1 + tests/data/test_default_materials.py | 137 +++ tests/sim/spawn/test_scene.py | 20 + tests/sim/test_material.py | 171 ++++ tests/sim/test_material_integration.py | 102 +++ 21 files changed, 2632 insertions(+), 43 deletions(-) create mode 100644 embodichain/data/default_materials.json create mode 100644 embodichain/data/default_materials.py create mode 100644 embodichain/lab/sim/_material_presets.py create mode 100644 examples/sim/rendering/default_materials.py create mode 100644 tests/data/test_default_materials.py diff --git a/agent_context/MAP.yaml b/agent_context/MAP.yaml index d22f9b0a8..902193def 100644 --- a/agent_context/MAP.yaml +++ b/agent_context/MAP.yaml @@ -25,6 +25,7 @@ topics: - embodichain/lab/sim/physics/ - embodichain/lab/sim/spawn/ - embodichain/lab/sim/material.py + - embodichain/lab/sim/_material_presets.py - embodichain/lab/sim/common.py - embodichain/lab/sim/_startup_summary.py - embodichain/lab/sim/_runtime_controls.py @@ -35,7 +36,7 @@ topics: - embodichain/lab/sim/objects/gizmo.py - embodichain/lab/gym/envs/base_env.py watch_paths: [embodichain/lab/sim/sim_manager.py, embodichain/lab/sim/cfg/, embodichain/lab/sim/physics/, - embodichain/lab/sim/spawn/, embodichain/lab/sim/material.py, embodichain/lab/sim/objects/, tests/sim/] + embodichain/lab/sim/spawn/, embodichain/lab/sim/material.py, embodichain/lab/sim/_material_presets.py, embodichain/lab/sim/objects/, tests/sim/] related_topics: [env-framework, robot-system, sensor-system, sim-visualization, ik-solvers, motion-planning, atomic-actions, rl-learning, configclass-pattern, robot-workspace] status: active @@ -421,7 +422,7 @@ topics: title: Data Assets aliases: [data assets, data path, asset download, 数据资产, 资产下载, 数据路径] keywords: [get_data_path, get_data_class, EmbodiChainDataset, TabletopFourBases, demo assets, EMBODICHAIN_DATA_ROOT, EMBODICHAIN_DATASET_ROOT, - CATEGORY_MODULES, download lock, get_registry] + CATEGORY_MODULES, download lock, get_registry, DefaultMaterials, list_default_materials, get_default_material_info] paths: [topics/data-assets/data-assets.md] source_of_truth: - embodichain/data/dataset.py @@ -429,6 +430,9 @@ topics: - embodichain/data/download.py - embodichain/data/__init__.py - embodichain/data/assets/__init__.py + - embodichain/data/assets/materials.py + - embodichain/data/default_materials.py + - embodichain/data/default_materials.json watch_paths: [embodichain/data/, embodichain/cli/main.py, tests/data/] related_topics: [gen-sim, robot-system, data-pipeline] status: active diff --git a/agent_context/topics/data-assets/data-assets.md b/agent_context/topics/data-assets/data-assets.md index 83fa3d919..25f0c1645 100644 --- a/agent_context/topics/data-assets/data-assets.md +++ b/agent_context/topics/data-assets/data-assets.md @@ -12,6 +12,8 @@ Online sampling and demonstration persistence belong to | Cache roots / mirror prefix | `embodichain/data/constants.py` | | Locked download and ZIP integrity | `embodichain/data/dataset.py`: `EmbodiChainDataset`, `_dataset_download_lock()` | | CLI list/download | `embodichain/data/download.py`: `CATEGORY_MODULES`, `get_registry()`, `download_asset()` | +| Default material catalog / provenance | `embodichain/data/default_materials.py`, `default_materials.json` | +| Default material archive | `embodichain/data/assets/materials.py`: `DefaultMaterials` | | Dataset class visibility | `embodichain/data/__init__.py`, `embodichain/data/assets/__init__.py` | | Pretrained policy bundles | `embodichain/data/assets/policy_assets.py`: `download_pretrained_policy()` | | Unified CLI registration | `embodichain/cli/main.py`: `embodichain data` | @@ -44,6 +46,8 @@ Keep the lock outside the directory repair may delete. POSIX uses `flock`; Windows uses a polled byte lock. Direct Open3D subclasses do not automatically receive the project's locking/repair behavior. +The CLI honors an asset class's optional `cache_prefix` when checking readiness +and ensuring extraction; otherwise the class name is the cache entry. The CLI imports the fixed `CATEGORY_MODULES` and finds `DownloadDataset` subclasses defined in each module. Adding an asset module alone does not add a CLI category. `get_registry()` also appends public classes from @@ -67,6 +71,23 @@ The registered descriptor respects the configured host and falls back to the official Hugging Face dataset. The scene tutorial downloads by asset reference by default and accepts local exports through `--source`. +## Default material resources + +`list_default_materials()` and `get_default_material_info()` are exported from +`embodichain.data` and query wheel-packaged metadata without a World or download. +`setup.py` must include that catalog explicitly. `DefaultMaterials` uses a +revision-specific cache prefix and the shared dataset lock, verifies archive +SHA256 and member digests, and repairs extraction from the verified archive. +Its data CLI registration follows the existing materials category. + +The original DexSim archive is currently on its internal resource server; an +explicit `EMBODICHAIN_DOWNLOAD_PREFIX` selects the catalog's versioned mirror +path. Do not substitute an unverified public URL or depend on a DexSim source +checkout. Preserve upstream manifests, relative auxiliary texture dependencies +and attribution. The material runtime stages JSON only and does not copy PNGs; +see [visual materials](../simulation-system/materials.md) for renderer, override +and native ownership rules. + ## Pretrained policy bundles `eval-policy --pretrained` reads the official model index at a pinned HF commit, diff --git a/agent_context/topics/simulation-system/materials.md b/agent_context/topics/simulation-system/materials.md index 7c8f1ec08..d2b8a9af5 100644 --- a/agent_context/topics/simulation-system/materials.md +++ b/agent_context/topics/simulation-system/materials.md @@ -3,8 +3,30 @@ `embodichain/lab/sim/material.py` owns `VisualMaterialCfg`, material templates, native instance wrappers and segment assignment helpers. Its private `_material_desc_from_cfg()` validates and normalizes both runtime creation and -`spawn/descriptors.py` lowering. Keep material type and emission semantics at -this shared boundary rather than duplicating conversion in callers. +`spawn/descriptors.py` lowering. Handwritten configurations fill historical +defaults during construction. Preset configurations keep unspecified fields +as `None`; only explicit values override resources. `from_dict()` constructs in +that mode before filling defaults. Do not infer override intent from equality +with a default, or modify generic `configclass` for this policy. + +`_material_presets.py` owns validated schema-v1 overrides, renderer preflight and +World-scoped manifest/template caches. `SpawnScene._resolve_materials()` shares +that path with runtime creation. Its resource definition registry reserves UIDs +alongside native Spawn's simplified material registry; full resource definitions +must not pass through the simplified `MaterialDesc` initializer. Bind the exact +loaded child on `RenderDesc.material`, including across rebuilds. NoRender keeps +resource definitions without downloading or creating native materials. Render-only +facades stay declared and are skipped by runtime binding/reset in that mode. + +Resource templates remain immutable. Each public UID and instance receives a +separate child; canonical revision/preset/overrides select shared templates. +Stage parameter variations before binding and keep texture paths in the shared +resource cache. Full resource reset uses native `Material.reset_inst()` instead +of rewriting only common fields. Native model changes after binding and NRD +resource fixes are outside this contract. Catalog/distribution ownership lives +in [data assets](../data-assets/data-assets.md); public usage and renderer limits +are documented in the +[material API](../../../docs/source/api_reference/embodichain/embodichain.lab.sim.material.rst). ## Identity and state diff --git a/docs/architecture/visual-material-acceptance.md b/docs/architecture/visual-material-acceptance.md index 160dfc4b3..7ac7b9454 100644 --- a/docs/architecture/visual-material-acceptance.md +++ b/docs/architecture/visual-material-acceptance.md @@ -49,6 +49,45 @@ python docs/scripts/check_api_docs.py python .agents/skills/project-dev-context/scripts/context.py check ``` +## Default material package + +In addition to the legacy handwritten-material checks above, qualify the unified +`VisualMaterialCfg.from_preset()` route: + +| Boundary | Acceptance | +| --- | --- | +| Inheritance | GlassClear inherits IOR 1.52; explicit 1.5 overrides it. Zero/false are explicit; `replace(ior=None)` restores inheritance. No flat/native duplicate properties or invalid parameters reach native loading. | +| Round trips | Constructor, factory, Python/YAML, copy, replace and dictionary round trips retain the preset and unspecified state. Manual construction retains historical concrete defaults. | +| Distribution | Offline queries list 18 public presets, with SoapBubbleInterior available explicitly. Build/install a wheel away from the source checkout. With an empty data cache, download the pinned archive; repeat without network, repair a missing/corrupt member, and verify auxiliary texture references. | +| Renderer preflight | Ten basic presets load on Hybrid/FastRT/OfflineRT. Eight advanced presets, the helper and advanced parameter variations require OfflineRT. Reject before download/native loading. NoRender preserves declarations and does neither. | +| Native resources | Runtime-first and inline-first aliases share exact handles. Different UIDs use separate children of immutable templates. Repeated creation preserves state and bounded native instance counts. Variants stage JSON only, never duplicate PNGs. | +| Lifecycle | Complete native template reset restores properties beyond the flattened fields. Default/Newton selection, reset, topology rebuild and cleanup preserve identity and expected assignments. | +| Optical parity | Render all 18 on OfflineRT and the ten basic presets on Hybrid and FastRT. Compare the package route to direct native loading with identical geometry/camera/lights, plus a native-repeat noise control. Use closed glass meshes, explicit double shells for bubbles and optional segmented face geometry. | + +```bash +python -m pytest -q tests/data/test_default_materials.py tests/sim/test_material.py +python -m pytest -q --run-gpu tests/sim/test_material_integration.py + +# Each renderer requires a separate process. Run native checks serially. +python examples/sim/rendering/default_materials.py --all --compare-native --renderer rt +python examples/sim/rendering/default_materials.py --all --compare-native --renderer hybrid +python examples/sim/rendering/default_materials.py --all --compare-native --renderer fast-rt +# Optionally add --model /path/to/skin_face.glb for SkinHumanLight. +``` + +The preview writes candidate/native/repeat images and `results.json`. Its center +crop RMSE tolerance is max(3/255, three times native-repeat RMSE plus 0.5/255). +Inspect the images as well as the metric: similar dark or empty frames alone do +not establish material correctness. The first material load includes data-cache +verification; creation timings are descriptive, not a render-throughput claim. +The current pinned upstream address is internal; public mirrors must provide +exactly the archive and versioned path documented in the material API. Asset +redistribution/provenance must be retained when deploying a mirror. + +Parameter variants must be created before binding. Qualification does not cover +cross-model hot shader mutation, NRD packaging fixes, automatic geometry/UV +changes or a global removal of the legacy manual `material_type` interface. + ## Compatibility - `base_color` reads return native display-sRGB RGB; configuration and writes diff --git a/docs/source/api_reference/embodichain/embodichain.lab.sim.material.rst b/docs/source/api_reference/embodichain/embodichain.lab.sim.material.rst index 0d97feb63..3c1377694 100644 --- a/docs/source/api_reference/embodichain/embodichain.lab.sim.material.rst +++ b/docs/source/api_reference/embodichain/embodichain.lab.sim.material.rst @@ -14,6 +14,86 @@ passes; :class:`VisualMaterial` is the resolved material definition and :class:`ReuseSegmentState` tracks per-render-body segment reuse so that segmentation masks stay consistent across replicated environments. +Default material presets +------------------------ + +Handwritten and asset-based materials use the same configuration type:: + + from embodichain.data import list_default_materials, get_default_material_info + from embodichain.lab.sim import VisualMaterialCfg + from embodichain.lab.sim.shapes import SphereCfg + + cfg = VisualMaterialCfg.from_preset( + "GlassClear", uid="glass", ior=1.6, + parameters={"volume_attenuation_distance": 8.0}, + ) + material = sim.create_visual_material(cfg) + shape = SphereCfg(radius=0.25, visual_material=cfg) + +The equivalent YAML is: + +.. code-block:: yaml + + visual_material: + preset: GlassClear + uid: glass + ior: 1.6 + parameters: + volume_attenuation_distance: 8.0 + +With a preset, unspecified common fields remain ``None`` and inherit authored +values. GlassClear therefore retains IOR 1.52 unless an override is supplied; +explicit ``ior=1.5`` sets 1.5. Zero and false values are explicit overrides. +``cfg.replace(ior=None)`` restores inheritance. ``copy()``, ``replace()`` and +dictionary/YAML round trips preserve the other explicit fields. Construct a +new source with ``from_preset()``; ``replace()`` retains the original fields. +Handwritten configurations still fill the historical defaults at construction. + +Common fields stay flat; native schema-v1 advanced parameters belong in +``parameters``. ``emissive_intensity`` normalizes to ``emission_intensity``. +Specifying the same native property in both places is an error. Unknown, +nonfinite, incorrectly typed and out-of-range parameters fail before native +loading. Presets reject ``material_type`` and texture replacement; their native +parameters select scattering. The manual ``material_type`` interface remains +available. Manual configurations with advanced parameters also use a complete +native manifest and retain the manual material-type policy. + +``BrickRed``, ``WoodOak``, ``CeramicTileWhite``, ``MarbleWhite``, ``AsphaltDark``, +``FabricGray``, ``LeatherBrown``, ``PlasticABSBlack``, ``RubberBlack`` and +``SteelBrushed`` support ``hybrid``, ``fast-rt`` and ``rt``. ``ChromePolished``, +``GoldPolished``, ``CopperPolished``, ``GlassClear``, ``GlassFrosted``, +``GlassSmoke``, ``SkinHumanLight`` and ``SoapBubble`` require ``rt`` (OfflineRT). +Advanced parameter variations of a basic preset also require ``rt``; the +factory rejects incompatible renderers before downloading or loading assets. +NoRender stores declarations without downloading or creating native materials. +Render-only VisualObject facades remain unbound in that mode; their declarations +are retained, while physics assets still prepare normally. + +Variants stage only JSON before binding. Textures stay in the shared resource +cache. Equivalent definitions reuse immutable native templates, while each UID +has a separate child instance. Explicit resets restore the entire template, +including advanced parameters and textures. Repeated creation preserves state. +Native shader-model changes after binding are outside this interface's scope; +pre-create variants and bind their instances instead. + +Catalog queries do not require a World or asset download. The archive is lazy, +revisioned and checksum-verified. Pre-download with +``embodichain data download --name DefaultMaterials``. The current upstream +archive is hosted on the DexSim internal resource server. To use a mirror, set +``EMBODICHAIN_DOWNLOAD_PREFIX`` before importing EmbodiChain and place the same +archive at +``materials/default-materials/ec9f748242c50b85/offlinert_materials.zip`` below +that prefix. The wheel contains metadata, not PNGs. The downloaded archive +retains the upstream README and manifests; source attribution and file digests +are recorded in ``embodichain/data/default_materials.json``. + +The optional ``SoapBubbleInterior`` auxiliary material references SoapBubble's +textures. Hollow bubble shells and segmented skin meshes belong to preview +geometry. The factory neither creates those shapes nor changes UVs. +``SkinHumanLight`` approximates diffuse transmission rather than random-walk +subsurface scattering. Run ``examples/sim/rendering/default_materials.py`` for +previews, optional segmented-face geometry and direct-native image comparisons. + .. rubric:: Classes .. autosummary:: diff --git a/docs/source/api_reference/public_api.rst b/docs/source/api_reference/public_api.rst index ea1f17cc6..a729a8cd6 100644 --- a/docs/source/api_reference/public_api.rst +++ b/docs/source/api_reference/public_api.rst @@ -40,6 +40,26 @@ EmbodiChain data cache. ScoopIceNewEnv TabletopFourBases +embodichain.data.assets.materials +------------------------------------ + +Material, environment-map and background bundles use the shared asset cache. +``DefaultMaterials`` downloads the pinned 18-preset collection and its auxiliary +soap-film layer; it does not create a simulator World. + +.. currentmodule:: embodichain.data.assets.materials + +.. autosummary:: + + SimResources + EnvMapHDR + CocoBackground + BackgroundTexture + DefaultMaterials + +.. autoclass:: DefaultMaterials + :members: get_material_path + embodichain.data.assets.planner_assets -------------------------------------- @@ -118,6 +138,34 @@ corrected full-body definition. .. autoclass:: DexforceW1RightArmV021 +embodichain.data.default_materials +------------------------------------ + +The wheel includes catalog metadata so these functions work offline without +asset downloads. Both functions are also available from ``embodichain.data``. +Metadata includes compatible renderer names, source revision, dependencies, +auxiliary resources and suggested physical texture dimensions. Dimensions do +not change geometry or UVs. + +.. currentmodule:: embodichain.data.default_materials + +.. autosummary:: + + list_default_materials + get_default_material_info + +.. autofunction:: list_default_materials + +.. autofunction:: get_default_material_info + +.. currentmodule:: embodichain.data + +.. autofunction:: list_default_materials + :no-index: + +.. autofunction:: get_default_material_info + :no-index: + embodichain.data_pipeline ------------------------- diff --git a/embodichain/data/__init__.py b/embodichain/data/__init__.py index 69479b009..668bf2cb0 100644 --- a/embodichain/data/__init__.py +++ b/embodichain/data/__init__.py @@ -16,6 +16,8 @@ """Dataset resolution, asset-download helpers, preset asset registries, and shared constants/enums used by simulation tasks and training pipelines.""" +from __future__ import annotations + import os from .constants import EMBODICHAIN_DEFAULT_DATABASE_ROOT @@ -27,3 +29,4 @@ from . import assets from .dataset import * +from .default_materials import list_default_materials, get_default_material_info diff --git a/embodichain/data/assets/materials.py b/embodichain/data/assets/materials.py index a627e2673..1c94e072c 100644 --- a/embodichain/data/assets/materials.py +++ b/embodichain/data/assets/materials.py @@ -14,11 +14,16 @@ # limitations under the License. # ---------------------------------------------------------------------------- +from __future__ import annotations + import os +import hashlib +import shutil +import zipfile import open3d as o3d from pathlib import Path -from typing import List +from typing import ClassVar, List from embodichain.data.dataset import EmbodiChainDataset from embodichain.utils import logger @@ -26,10 +31,117 @@ EMBODICHAIN_DOWNLOAD_PREFIX, EMBODICHAIN_DEFAULT_DATA_ROOT, ) +from embodichain.data.default_materials import _catalog, get_default_material_info + +__all__ = [ + "SimResources", + "EnvMapHDR", + "CocoBackground", + "BackgroundTexture", + "DefaultMaterials", +] material_assets = "materials" +class DefaultMaterials(EmbodiChainDataset): + """Lazily download the pinned default-material collection. + + Args: + data_root: Optional data cache root. Each resource revision has its own + locked cache entry. ``EMBODICHAIN_DOWNLOAD_PREFIX`` selects a mirror + containing the catalog's versioned archive path; otherwise the + original DexSim resource server is used (requires network access). + """ + + cache_prefix: ClassVar[str] = f"DefaultMaterials_{_catalog()['bundle']['revision']}" + """Revision-specific cache identity, also used by the data CLI.""" + + def __init__(self, data_root: str | None = None) -> None: + bundle = _catalog()["bundle"] + url = ( + EMBODICHAIN_DOWNLOAD_PREFIX + bundle["mirror_path"] + if os.environ.get("EMBODICHAIN_DOWNLOAD_PREFIX") + else bundle["upstream_url"] + ) + root = EMBODICHAIN_DEFAULT_DATA_ROOT if data_root is None else data_root + prefix = self.cache_prefix + super().__init__(prefix, o3d.data.DataDescriptor(url, bundle["md5"]), root) + archive = Path(self.download_dir) / bundle["archive_name"] + if self._sha256(archive) != bundle["sha256"]: + raise ValueError( + "DefaultMaterials archive does not match its pinned SHA256." + ) + self._verify_files(Path(self.extract_dir)) + + @staticmethod + def _sha256(path: Path) -> str: + digest = hashlib.sha256() + with path.open("rb") as stream: + for block in iter(lambda: stream.read(1024 * 1024), b""): + digest.update(block) + return digest.hexdigest() + + @classmethod + def _verify_files(cls, root: Path) -> None: + for name, info in _catalog()["bundle"]["files"].items(): + path = root / name + if ( + not path.is_file() + or path.stat().st_size != info["size_bytes"] + or cls._sha256(path) != info["sha256"] + ): + raise ValueError( + f"Incomplete or corrupt DefaultMaterials resource: {path}." + ) + + def check_zip( + self, prefix: str, data_descriptor: o3d.data.DataDescriptor, path: str + ) -> None: + """Validate or repair this revision while the dataset lock is held. + + Args: + prefix: Versioned cache entry owned by this dataset. + data_descriptor: Native download descriptor with the pinned MD5. + path: Data cache root, including caller-provided roots. + """ + # Called under EmbodiChainDataset's existing interprocess lock. Repair + # only this revision's extraction, including caches with custom roots. + archive = ( + Path(path) / "download" / prefix / _catalog()["bundle"]["archive_name"] + ) + extracted = Path(path) / "extract" / prefix + if not archive.is_file(): + if extracted.exists(): + shutil.rmtree(extracted) + return + if self._sha256(archive) != _catalog()["bundle"]["sha256"]: + archive.unlink() + if extracted.exists(): + shutil.rmtree(extracted) + return + try: + self._verify_files(extracted) + except ValueError: + if extracted.exists(): + shutil.rmtree(extracted) + # The archive was verified against a built-in immutable digest. + with zipfile.ZipFile(archive) as bundle: + bundle.extractall(extracted) + + def get_material_path(self, name: str) -> str: + """Get an authored preset directory in this verified resource revision. + + Args: + name: Public preset name or ``SoapBubbleInterior``. + + Returns: + Absolute path suitable for DexSim's native material loader. + """ + get_default_material_info(name) + return str(Path(self.extract_dir) / "Material" / name) + + class SimResources(EmbodiChainDataset): def __init__(self, data_root: str = None): data_descriptor = o3d.data.DataDescriptor( diff --git a/embodichain/data/default_materials.json b/embodichain/data/default_materials.json new file mode 100644 index 000000000..2c272debd --- /dev/null +++ b/embodichain/data/default_materials.json @@ -0,0 +1,787 @@ +{ + "schema_version": 1, + "texture_resolution": [ + 1024, + 1024 + ], + "filename_pattern": "{name}_{channel}.png", + "auto_loaded_channels": [ + "Color", + "AmbientOcclusion", + "Roughness", + "Metallic", + "Normal" + ], + "authoring_only_channels": [ + "Displacement" + ], + "advanced_parameters_manifest": "material.json", + "advanced_texture_channels": [ + "Transmission", + "Clearcoat", + "ClearcoatRoughness", + "ClearcoatNormal", + "SheenColor", + "SheenRoughness", + "Iridescence", + "IridescenceThickness", + "SpecularColor", + "SpecularStrength", + "DiffuseTransmissionColor", + "DiffuseTransmissionStrength", + "VolumeAttenuationStrength" + ], + "materials": [ + { + "name": "BrickRed", + "category": "architecture", + "description": "Red fired brick with gray mortar", + "nominal_size_m": [ + 1.2, + 0.84 + ], + "renderers": [ + "hybrid", + "fast-rt", + "rt" + ], + "dependencies": [], + "auxiliary": false, + "geometry_notes": "", + "auxiliary_resources": [] + }, + { + "name": "WoodOak", + "category": "wood", + "description": "Warm oak wood grain", + "nominal_size_m": [ + 0.8, + 0.8 + ], + "renderers": [ + "hybrid", + "fast-rt", + "rt" + ], + "dependencies": [], + "auxiliary": false, + "geometry_notes": "", + "auxiliary_resources": [] + }, + { + "name": "CeramicTileWhite", + "category": "architecture", + "description": "White glazed ceramic tiles with gray grout", + "nominal_size_m": [ + 1.0, + 1.0 + ], + "renderers": [ + "hybrid", + "fast-rt", + "rt" + ], + "dependencies": [], + "auxiliary": false, + "geometry_notes": "", + "auxiliary_resources": [] + }, + { + "name": "MarbleWhite", + "category": "stone", + "description": "Polished white marble with gray veins", + "nominal_size_m": [ + 1.5, + 1.5 + ], + "renderers": [ + "hybrid", + "fast-rt", + "rt" + ], + "dependencies": [], + "auxiliary": false, + "geometry_notes": "", + "auxiliary_resources": [] + }, + { + "name": "AsphaltDark", + "category": "ground", + "description": "Dark asphalt with fine aggregate", + "nominal_size_m": [ + 2.0, + 2.0 + ], + "renderers": [ + "hybrid", + "fast-rt", + "rt" + ], + "dependencies": [], + "auxiliary": false, + "geometry_notes": "", + "auxiliary_resources": [] + }, + { + "name": "FabricGray", + "category": "fabric", + "description": "Fine woven gray fabric", + "nominal_size_m": [ + 0.25, + 0.25 + ], + "renderers": [ + "hybrid", + "fast-rt", + "rt" + ], + "dependencies": [], + "auxiliary": false, + "geometry_notes": "", + "auxiliary_resources": [] + }, + { + "name": "LeatherBrown", + "category": "leather", + "description": "Brown grained leather", + "nominal_size_m": [ + 0.35, + 0.35 + ], + "renderers": [ + "hybrid", + "fast-rt", + "rt" + ], + "dependencies": [], + "auxiliary": false, + "geometry_notes": "", + "auxiliary_resources": [] + }, + { + "name": "PlasticABSBlack", + "category": "polymer", + "description": "Black ABS plastic with a subtle orange-peel finish", + "nominal_size_m": [ + 0.25, + 0.25 + ], + "renderers": [ + "hybrid", + "fast-rt", + "rt" + ], + "dependencies": [], + "auxiliary": false, + "geometry_notes": "", + "auxiliary_resources": [] + }, + { + "name": "RubberBlack", + "category": "polymer", + "description": "Rough black rubber", + "nominal_size_m": [ + 0.25, + 0.25 + ], + "renderers": [ + "hybrid", + "fast-rt", + "rt" + ], + "dependencies": [], + "auxiliary": false, + "geometry_notes": "", + "auxiliary_resources": [] + }, + { + "name": "SteelBrushed", + "category": "metal", + "description": "Directional brushed steel", + "nominal_size_m": [ + 0.5, + 0.5 + ], + "renderers": [ + "hybrid", + "fast-rt", + "rt" + ], + "dependencies": [], + "auxiliary": false, + "geometry_notes": "", + "auxiliary_resources": [] + }, + { + "name": "ChromePolished", + "category": "metal", + "description": "Highly reflective polished chrome", + "nominal_size_m": [ + 0.35, + 0.35 + ], + "renderers": [ + "rt" + ], + "dependencies": [], + "auxiliary": false, + "geometry_notes": "", + "auxiliary_resources": [] + }, + { + "name": "GoldPolished", + "category": "metal", + "description": "Polished gold", + "nominal_size_m": [ + 0.35, + 0.35 + ], + "renderers": [ + "rt" + ], + "dependencies": [], + "auxiliary": false, + "geometry_notes": "", + "auxiliary_resources": [] + }, + { + "name": "CopperPolished", + "category": "metal", + "description": "Polished copper", + "nominal_size_m": [ + 0.35, + 0.35 + ], + "renderers": [ + "rt" + ], + "dependencies": [], + "auxiliary": false, + "geometry_notes": "", + "auxiliary_resources": [] + }, + { + "name": "GlassClear", + "category": "glass", + "description": "Clear solid glass with weak volume absorption", + "nominal_size_m": [ + 0.5, + 0.5 + ], + "renderers": [ + "rt" + ], + "dependencies": [], + "auxiliary": false, + "geometry_notes": "", + "auxiliary_resources": [] + }, + { + "name": "GlassFrosted", + "category": "glass", + "description": "Rough transmitting frosted glass", + "nominal_size_m": [ + 0.5, + 0.5 + ], + "renderers": [ + "rt" + ], + "dependencies": [], + "auxiliary": false, + "geometry_notes": "", + "auxiliary_resources": [] + }, + { + "name": "GlassSmoke", + "category": "glass", + "description": "Gray-blue absorbing smoke glass", + "nominal_size_m": [ + 0.5, + 0.5 + ], + "renderers": [ + "rt" + ], + "dependencies": [], + "auxiliary": false, + "geometry_notes": "", + "auxiliary_resources": [] + }, + { + "name": "SkinHumanLight", + "category": "organic", + "description": "Light human skin with pores and approximate diffuse transmission", + "nominal_size_m": [ + 0.18, + 0.18 + ], + "renderers": [ + "rt" + ], + "dependencies": [], + "auxiliary": false, + "geometry_notes": "Segmented face geometry belongs to the preview; this preset does not provide random-walk subsurface scattering.", + "auxiliary_resources": [] + }, + { + "name": "SoapBubble", + "category": "thin-film", + "description": "Soap film with spatially varying iridescence", + "nominal_size_m": [ + 0.5, + 0.5 + ], + "renderers": [ + "rt" + ], + "dependencies": [], + "auxiliary": false, + "geometry_notes": "For a hollow bubble, bind SoapBubbleInterior to a separate inward-facing inner shell.", + "auxiliary_resources": [ + "SoapBubbleInterior" + ] + }, + { + "name": "SoapBubbleInterior", + "category": "thin-film", + "description": "Inward-facing auxiliary layer for a hollow soap film", + "nominal_size_m": [ + 0.5, + 0.5 + ], + "renderers": [ + "rt" + ], + "dependencies": [ + "SoapBubble" + ], + "auxiliary": true, + "geometry_notes": "Bind to a separately authored inward-facing inner shell.", + "auxiliary_resources": [] + } + ], + 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a/embodichain/data/default_materials.py b/embodichain/data/default_materials.py new file mode 100644 index 000000000..de8bf7b64 --- /dev/null +++ b/embodichain/data/default_materials.py @@ -0,0 +1,69 @@ +# ---------------------------------------------------------------------------- +# Copyright (c) 2021-2026 DexForce Technology Co., Ltd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ---------------------------------------------------------------------------- + +"""Offline catalog for the versioned DexSim default material collection.""" + +from __future__ import annotations + +import copy +import json +from functools import lru_cache +from importlib.resources import files +from typing import Any + +__all__ = ["list_default_materials", "get_default_material_info"] + + +@lru_cache(maxsize=1) +def _catalog() -> dict[str, Any]: + return json.loads( + files("embodichain.data") + .joinpath("default_materials.json") + .read_text(encoding="utf-8") + ) + + +def list_default_materials() -> list[str]: + """List the 18 public presets without downloading assets or creating a World. + + Returns: + Preset names in catalog order. Auxiliary resources are omitted. + """ + return [item["name"] for item in _catalog()["materials"] if not item["auxiliary"]] + + +def get_default_material_info(name: str) -> dict[str, Any]: + """Read independent metadata for a public preset or auxiliary resource. + + Args: + name: Case-sensitive catalog name, including ``SoapBubbleInterior``. + + Returns: + Description, supported renderers, dependencies, suggested texture size, + geometry guidance and source revision. Suggested sizes do not change UVs. + + Raises: + ValueError: The name is not in the built-in catalog. + """ + for item in _catalog()["materials"]: + if item["name"] == name: + result = copy.deepcopy(item) + result["texture_resolution"] = list(_catalog()["texture_resolution"]) + result["revision"] = _catalog()["bundle"]["revision"] + return result + raise ValueError( + f"Unknown default material {name!r}. Available presets: {', '.join(list_default_materials())}." + ) diff --git a/embodichain/data/download.py b/embodichain/data/download.py index b7661d15f..67acf657c 100644 --- a/embodichain/data/download.py +++ b/embodichain/data/download.py @@ -142,7 +142,7 @@ def download_asset(cls_name: str, cls: type) -> bool: print(f" Downloading {cls_name} ...") try: data_obj = cls() - _ensure_extract(data_obj, cls_name) + _ensure_extract(data_obj, getattr(cls, "cache_prefix", cls_name)) print(f" ✓ {cls_name} ready") return True except Exception as exc: @@ -170,10 +170,12 @@ def cmd_list(args: argparse.Namespace) -> None: sys.exit(1) print(f"\n[{category}] ({len(assets)} assets)") - for cls_name, _ in assets: + for cls_name, cls in assets: # Show whether it is already downloaded extract_dir = os.path.join( - EMBODICHAIN_DEFAULT_DATA_ROOT, "extract", cls_name + EMBODICHAIN_DEFAULT_DATA_ROOT, + "extract", + getattr(cls, "cache_prefix", cls_name), ) status = ( "✓" if os.path.isdir(extract_dir) and os.listdir(extract_dir) else " " diff --git a/embodichain/lab/sim/_material_presets.py b/embodichain/lab/sim/_material_presets.py new file mode 100644 index 000000000..982bedc22 --- /dev/null +++ b/embodichain/lab/sim/_material_presets.py @@ -0,0 +1,391 @@ +# ---------------------------------------------------------------------------- +# Copyright (c) 2021-2026 DexForce Technology Co., Ltd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ---------------------------------------------------------------------------- + +"""Validated native material definitions and World-owned resource lifetimes.""" + +from __future__ import annotations + +import copy +import json +import math +from collections.abc import Sequence +from dataclasses import dataclass +from hashlib import sha256 +from numbers import Real +from pathlib import Path +from tempfile import TemporaryDirectory +from typing import Any, TYPE_CHECKING +from uuid import uuid4 + +from embodichain.data.default_materials import get_default_material_info + +if TYPE_CHECKING: + from .material import VisualMaterialCfg + +__all__: list[str] = [] + +_FLAT_PARAMETERS = { + "base_color": "base_color", + "metallic": "metallic", + "roughness": "roughness", + "emissive": "emissive", + "emissive_intensity": "emission_intensity", + "ior": "ior", +} +_TEXTURE_FIELDS = { + "base_color_texture": "base_color", + "metallic_texture": "metallic", + "roughness_texture": "roughness", + "normal_texture": "normal", + "ao_texture": "ambient_occlusion", +} +_FRACTIONS = { + "metallic", + "roughness", + "reflectance", + "ambient_occlusion", + "transmission", + "anisotropy_strength", + "clearcoat", + "clearcoat_roughness", + "sheen_roughness", + "specular_strength", + "diffuse_transmission_strength", + "iridescence_factor", + "iridescence_min_reflection", +} +_POSITIVE = {"ior", "volume_attenuation_distance", "iridescence_ior"} +_NONNEGATIVE = { + "emission_intensity", + "volume_thickness", + "iridescence_reflection_boost", +} +_VECTORS = { + "base_color": (3, 4), + "emissive": (3,), + "sheen_color": (3,), + "specular_color": (3,), + "diffuse_transmission_color": (3,), + "volume_attenuation_color": (3,), + "iridescence_thickness": (2,), +} +_BOOLEANS = {"thin_walled", "double_sided"} +_BASIC_PARAMETERS = { + "base_color", + "metallic", + "roughness", + "reflectance", + "ambient_occlusion", + "ior", + "emissive", + "emission_intensity", + "double_sided", +} +_TEXTURE_KEYS = { + "base_color", + "ambient_occlusion", + "roughness", + "metallic", + "metallic_roughness", + "normal", + "emissive", + "anisotropy", + "transmission", + "clearcoat", + "clearcoat_roughness", + "clearcoat_normal", + "sheen_color", + "sheen_roughness", + "iridescence", + "iridescence_thickness", + "specular_color", + "specular_strength", + "diffuse_transmission_color", + "diffuse_transmission_strength", + "volume_attenuation_strength", +} + + +def _number(value: Any, key: str) -> float: + if ( + isinstance(value, bool) + or not isinstance(value, Real) + or not math.isfinite(float(value)) + ): + raise ValueError(f"Visual material parameter {key!r} must be a finite number.") + return float(value) + + +def _normalize_parameters(parameters: dict[str, Any]) -> dict[str, Any]: + if not isinstance(parameters, dict): + raise ValueError("Visual material parameters must be a dictionary.") + normalized = {} + for supplied_key, value in parameters.items(): + key = ( + "emission_intensity" + if supplied_key == "emissive_intensity" + else supplied_key + ) + if key in normalized: + raise ValueError(f"Duplicate visual material parameter {key!r}.") + if key in _BOOLEANS: + if not isinstance(value, bool): + raise ValueError( + f"Visual material parameter {key!r} must be a boolean." + ) + normalized[key] = value + elif key in _VECTORS: + if ( + not isinstance(value, Sequence) + or isinstance(value, (str, bytes)) + or len(value) not in _VECTORS[key] + ): + raise ValueError(f"Invalid visual material vector {key!r}.") + vector = [_number(component, key) for component in value] + if any(component < 0 for component in vector) or ( + key == "base_color" and len(vector) == 4 and vector[3] > 1 + ): + raise ValueError(f"Invalid visual material vector {key!r}.") + if key == "iridescence_thickness" and vector[0] > vector[1]: + raise ValueError( + "iridescence_thickness must be ordered from minimum to maximum." + ) + normalized[key] = vector + elif key in _FRACTIONS | _POSITIVE | _NONNEGATIVE | {"anisotropy_rotation"}: + scalar = _number(value, key) + if ( + (key in _FRACTIONS and not 0 <= scalar <= 1) + or (key in _POSITIVE and scalar <= 0) + or (key in _NONNEGATIVE and scalar < 0) + ): + raise ValueError( + f"Invalid visual material parameter {key!r}: {value!r}." + ) + normalized[key] = scalar + else: + raise ValueError(f"Unknown visual material parameter {supplied_key!r}.") + return normalized + + +def _cfg_parameters(cfg: VisualMaterialCfg) -> dict[str, Any]: + parameters = _normalize_parameters(cfg.parameters) + for field_name, key in _FLAT_PARAMETERS.items(): + value = getattr(cfg, field_name) + if value is not None: + if key in parameters: + raise ValueError( + f"Duplicate visual material parameter {key!r} in flat fields and parameters." + ) + parameters[key] = value + return _normalize_parameters(parameters) + + +@dataclass +class _AssetMaterialDesc: + # Keep identity independent of download roots, temporary paths and native + # handles. Names are mutable only for anonymous Spawn declaration naming. + name: str + preset: str | None + parameters_json: str + revision: str + textures: tuple[tuple[str, str], ...] = () + material_type: str | None = None + + def template_key(self) -> str: + definition = ( + self.revision, + self.preset, + self.parameters_json, + self.textures, + self.material_type, + ) + return sha256(repr(definition).encode()).hexdigest() + + +def _asset_desc_from_cfg(cfg: VisualMaterialCfg, uid: str) -> _AssetMaterialDesc: + if cfg.preset is not None: + info = get_default_material_info(cfg.preset) + if cfg.material_type is not None: + raise ValueError( + "Preset materials cannot specify material_type; native parameters select scattering." + ) + if any(getattr(cfg, key) is not None for key in _TEXTURE_FIELDS): + raise ValueError("Preset texture replacement or removal is not supported.") + revision = info["revision"] + else: + revision = "native-manifest-v1" + parameters = _cfg_parameters(cfg) + return _AssetMaterialDesc( + name=uid, + preset=cfg.preset, + parameters_json=json.dumps( + parameters, sort_keys=True, separators=(",", ":"), allow_nan=False + ), + revision=revision, + textures=tuple( + (key, str(getattr(cfg, field_name))) + for field_name, key in _TEXTURE_FIELDS.items() + if getattr(cfg, field_name) is not None + ), + material_type=cfg.material_type if cfg.preset is None else None, + ) + + +def _validate_backend(desc: _AssetMaterialDesc, renderer: str) -> None: + # NoRender stores the full declaration; no native resource is requested. + if renderer == "no-render": + return + supported = ( + get_default_material_info(desc.preset)["renderers"] + if desc.preset + else ["rt", "hybrid", "fast-rt"] + ) + advanced = set(json.loads(desc.parameters_json)) - _BASIC_PARAMETERS + if renderer not in supported or (advanced and renderer != "rt"): + raise ValueError( + f"Visual material {desc.preset or desc.name!r} requires renderer='rt' (OfflineRT); current renderer is {renderer!r}." + ) + + +def _legacy_manifest(directory: Path) -> dict[str, Any]: + # Match the native suffix discovery, including its alphabetical precedence + # for Metalness over Metallic. Displacement remains authoring-only. + suffixes = { + "AmbientOcclusion": "ambient_occlusion", + "Color": "base_color", + "Metallic": "metallic", + "MetallicRoughness": "metallic_roughness", + "Metalness": "metallic", + "Normal": "normal", + "Roughness": "roughness", + } + textures = {} + for suffix, key in suffixes.items(): + matches = sorted(directory.glob(f"*_{suffix}.png")) + if matches: + textures[key] = str(matches[0].resolve()) + return {"schema_version": 1, "parameters": {}, "textures": textures} + + +class _MaterialResources: + """One World owns staged manifests, immutable templates and UID handles. + + Cost scales with distinct definitions and UIDs, never with frames or repeated + lookups. Only JSON is staged; source images stay in the shared data cache. + """ + + def __init__(self, world: Any, renderer: str) -> None: + self._world = world + self.renderer = renderer + self._directory: TemporaryDirectory[str] | None = None + self._dataset: Any | None = None + self._templates: dict[str, Any] = {} + self._instances: dict[str, tuple[Any, Any]] = {} + + def _manifest(self, desc: _AssetMaterialDesc) -> dict[str, Any]: + if desc.preset: + if self._dataset is None: + from embodichain.data.assets.materials import DefaultMaterials + + self._dataset = DefaultMaterials() + directory = Path(self._dataset.get_material_path(desc.preset)) + source = directory / "material.json" + manifest = ( + json.loads(source.read_text(encoding="utf-8")) + if source.is_file() + else _legacy_manifest(directory) + ) + pack_root = directory.parent.resolve() + else: + directory = Path.cwd() + pack_root = None + manifest = { + "schema_version": 1, + "parameters": {}, + "textures": dict(desc.textures), + } + if manifest.get("schema_version") != 1: + raise ValueError( + "Only native material manifest schema_version=1 is supported." + ) + manifest = copy.deepcopy(manifest) + parameters = _normalize_parameters(manifest.get("parameters", {})) + parameters.update(json.loads(desc.parameters_json)) + manifest["parameters"] = _normalize_parameters(parameters) + textures = manifest.get("textures", {}) + if not isinstance(textures, dict) or set(textures) - _TEXTURE_KEYS: + raise ValueError("Invalid native material texture definitions.") + for key, value in textures.items(): + if not isinstance(value, str) or not value: + raise ValueError(f"Invalid native material texture {key!r}.") + path = (directory / value).resolve() + if pack_root is not None and not path.is_relative_to(pack_root): + raise ValueError( + f"Material texture escapes its resource pack: {value!r}." + ) + if not path.is_file(): + raise FileNotFoundError(f"Missing material texture: {path}.") + textures[key] = str(path) + return manifest + + def resolve(self, desc: _AssetMaterialDesc) -> tuple[Any, Any]: + _validate_backend(desc, self.renderer) + if self.renderer == "no-render": + raise RuntimeError("Native material creation requires a renderer.") + if desc.name in self._instances: + return self._instances[desc.name] + key = desc.template_key() + if key not in self._templates: + manifest = self._manifest(desc) + if self._directory is None: + self._directory = TemporaryDirectory(prefix="ec-materials-") + directory = Path(self._directory.name) / key + directory.mkdir(exist_ok=True) + (directory / "material.json").write_text( + json.dumps(manifest, indent=2, allow_nan=False), encoding="utf-8" + ) + if len(str(directory).encode()) > 255: + raise ValueError( + "Native material directory exceeds the 255-byte path limit." + ) + template = self._world.get_env().load_material( + str(directory), f"ec_material_{uuid4().hex}" + ) + if template is None: + raise RuntimeError( + f"DexSim could not load material {desc.preset or desc.name!r}." + ) + if desc.material_type is not None: + from .material import _MATERIAL_TYPES + + template.get_inst().update_pbr_material_type( + _MATERIAL_TYPES[desc.material_type] + ) + self._templates[key] = template + template = self._templates[key] + instance = template.get_inst(f"ec_instance_{uuid4().hex}") + result = (template, instance) + self._instances[desc.name] = result + return result + + def close(self) -> None: + self._instances.clear() + self._templates.clear() + self._dataset = None + if self._directory is not None: + self._directory.cleanup() + self._directory = None + self._world = None diff --git a/embodichain/lab/sim/material.py b/embodichain/lab/sim/material.py index 3a85db3e1..081dff924 100644 --- a/embodichain/lab/sim/material.py +++ b/embodichain/lab/sim/material.py @@ -24,7 +24,7 @@ from dataclasses import dataclass from collections.abc import Sequence -from typing import TYPE_CHECKING +from typing import TYPE_CHECKING, Any from uuid import uuid4 from dexsim.engine import MaterialInst, Material @@ -32,6 +32,7 @@ if TYPE_CHECKING: from dexsim.spawn import MaterialDesc + from ._material_presets import _AssetMaterialDesc __all__ = [ "VisualMaterialCfg", @@ -43,24 +44,31 @@ @configclass class VisualMaterialCfg: - """Configuration for visual material with PBR properties for rasterization and ray tracing.""" + """Manual PBR properties or explicit overrides of a default material preset. + + With ``preset=None``, unspecified common fields receive the historical + defaults at construction. With a preset, ``None`` inherits the authored + resource value. Serialization retains that distinction. Use + :meth:`from_preset` to construct a new preset configuration; ``replace`` + preserves existing fields rather than switching configuration sources. + """ uid: str | None = None """Explicit shared identity, or None for an automatically named material.""" # Basic PBR properties - base_color: list[float] = [0.5, 0.5, 0.5, 1.0] + base_color: list[float] | None = None """Base color/diffuse color (RGBA)""" - metallic: float = 0.0 + metallic: float | None = None """Metallic factor (0.0 = dielectric, 1.0 = metallic)""" - roughness: float = 0.7 + roughness: float | None = None """Surface roughness (0.0 = smooth, 1.0 = rough)""" # Additional PBR properties - emissive: list[float] = [0.0, 0.0, 0.0] # Emissive color (RGB) - emissive_intensity: float = 1.0 # Emissive intensity multiplier + emissive: list[float] | None = None # Emissive color (RGB) + emissive_intensity: float | None = None # Emissive intensity multiplier # Texture maps base_color_texture: str | None = None @@ -79,25 +87,95 @@ class VisualMaterialCfg: """Ambient occlusion map""" # Ray tracing specific properties - ior: float = 1.5 + ior: float | None = None """Index of refraction for PBR materials, only used in ray tracing.""" - material_type: str = "BRDF" + material_type: str | None = None """Ray tracing material type. Options: 'BRDF', 'BTDF', 'BSDF'""" - # Currently disabled properties - # subsurface: float = 0.0 # Subsurface scattering factor - # subsurface_color: list = [1.0, 1.0, 1.0] # Subsurface scattering color + preset: str | None = None + """Default material name. Presets select scattering from native parameters.""" + + parameters: dict[str, Any] = {} + """Native schema-v1 advanced parameters; cannot duplicate common fields.""" + + def __post_init__(self) -> None: + if self.preset is None: + defaults = { + "base_color": [0.5, 0.5, 0.5, 1.0], + "metallic": 0.0, + "roughness": 0.7, + "emissive": [0.0, 0.0, 0.0], + "emissive_intensity": 1.0, + "ior": 1.5, + "material_type": "BRDF", + } + for key, value in defaults.items(): + if getattr(self, key) is None: + setattr(self, key, copy.deepcopy(value)) + else: + from ._material_presets import _asset_desc_from_cfg + + _asset_desc_from_cfg(self, self.uid or "preset") + + @classmethod + def from_preset( + cls, + name: str, + *, + uid: str | None = None, + parameters: dict[str, Any] | None = None, + **properties: Any, + ) -> VisualMaterialCfg: + """Construct explicit overrides of an authored default material. + + Args: + name: Case-sensitive catalog name, or ``SoapBubbleInterior``. + uid: Optional shared identity within the simulation World. + parameters: Advanced native parameters, such as volume absorption. + **properties: Common fields such as ``ior`` or ``roughness``. + + Returns: + A configuration retaining ``None`` for inherited common fields. + + Raises: + ValueError: A preset, override, duplicate property or texture edit + is invalid. ``material_type`` is unavailable for presets. + """ + from embodichain.data.default_materials import get_default_material_info + + get_default_material_info(name) + return cls( + preset=name, + uid=uid, + parameters={} if parameters is None else parameters, + **properties, + ) @classmethod - def from_dict(cls, cfg_dict: dict) -> VisualMaterialCfg: - base = cls() + def from_dict(cls, cfg_dict: dict[str, Any]) -> VisualMaterialCfg: + """Construct manual defaults or preset overrides from Python/YAML data. + + Args: + cfg_dict: Serialized configuration, including optional ``preset``. + + Returns: + Configuration with inheritance preserved before defaults are filled. + """ + from dataclasses import fields + + names = {item.name for item in fields(cls)} + values = {} for k, v in cfg_dict.items(): - if hasattr(base, k): - setattr(base, k, v) + if k in names: + values[k] = v else: + if cfg_dict.get("preset") is not None: + raise ValueError( + f"Unknown field {k!r} in preset VisualMaterialCfg." + ) logger.log_warning(f"Unknown field '{k}' in VisualMaterialCfg.") - return base + return cls(**values) _MATERIAL_TYPES = { @@ -126,14 +204,26 @@ def _material_color(value: Sequence[float], name: str, size: int) -> tuple[float return tuple(_material_scalar(v, name) for v in value) -def _material_desc_from_cfg(cfg: VisualMaterialCfg, uid: str) -> MaterialDesc: +def _material_desc_from_cfg( + cfg: VisualMaterialCfg, uid: str +) -> MaterialDesc | _AssetMaterialDesc: """Normalize both declaration and runtime material creation at one boundary.""" from dexsim.spawn import MaterialDesc if not isinstance(uid, str) or not uid.strip(): raise ValueError("Visual material uid must be a nonempty string.") + if not isinstance(cfg.parameters, dict): + raise ValueError("Visual material parameters must be a dictionary.") + if cfg.preset is not None: + from ._material_presets import _asset_desc_from_cfg + + return _asset_desc_from_cfg(cfg, uid) if cfg.material_type not in _MATERIAL_TYPES: raise ValueError(f"Invalid visual material_type {cfg.material_type!r}.") + if cfg.parameters: + from ._material_presets import _asset_desc_from_cfg + + return _asset_desc_from_cfg(cfg, uid) color = _material_color(cfg.base_color, "base_color (RGBA)", 4) _material_scalar(color[3], "base_color alpha", upper=1.0) emissive = _material_color(cfg.emissive, "emissive (RGB)", 3) @@ -177,7 +267,12 @@ class VisualMaterial: MAT_TYPE_MAPPING: dict[str, str] = _MATERIAL_TYPES def __init__( - self, cfg: VisualMaterialCfg, mat: Material, *, initialize_default: bool = True + self, + cfg: VisualMaterialCfg, + mat: Material, + *, + initialize_default: bool = True, + mat_inst: MaterialInst | None = None, ) -> None: """Create a template wrapper or borrow an already configured native one. @@ -186,22 +281,33 @@ def __init__( mat: Native template owned by the simulation. initialize_default: Apply configuration to the native default instance. Disable for a known existing template to preserve runtime edits. + mat_inst: Exact child instance of an immutable native resource template. """ self.uid = cfg.uid or f"visual_material_{uuid4().hex}" - _material_desc_from_cfg(cfg, self.uid) + self._definition = _material_desc_from_cfg(cfg, self.uid) + self._uses_manifest = cfg.preset is not None or bool(cfg.parameters) self.cfg = copy.deepcopy(cfg) self.cfg.uid = self.uid self._mat = mat self._instances: dict[str, VisualMaterialInst] = {} + self._native_instance_aliases: dict[str, VisualMaterialInst] = {} # Spawn resolves a named template through its native default instance. # Keep that entry configured too when runtime and declarations share a UID. + if mat_inst is None and self._uses_manifest: + mat_inst = self._mat.get_inst(f"ec_instance_{uuid4().hex}") self._default_mat_inst = VisualMaterialInst( - self.uid, self._mat, mat_inst=self._mat.get_inst() + self.uid, + self._mat, + mat_inst=mat_inst if mat_inst is not None else self._mat.get_inst(), ) - if initialize_default: + if initialize_default and not self._uses_manifest: self.set_default_properties(self._default_mat_inst, self.cfg) self._instances[self.uid] = self._default_mat_inst + if self._uses_manifest: + self._native_instance_aliases[self._default_mat_inst.mat.get_name()] = ( + self._default_mat_inst + ) @property def mat(self) -> Material: @@ -221,6 +327,20 @@ def set_default_properties( cfg: Material properties to apply. """ desc = _material_desc_from_cfg(cfg, self.uid) + if self._uses_manifest: + if desc != self._definition: + raise ValueError( + "Resource material reset requires its original definition; create a variant before binding." + ) + self._mat.reset_inst(mat_inst.mat) + mat_inst._emissive_rgb = None + mat_inst._emissive_intensity = 1.0 + mat_inst.base_color_texture = mat_inst.mat.get_base_color_map() + mat_inst.metallic_texture = None + mat_inst.roughness_texture = None + mat_inst.normal_texture = None + mat_inst.ao_texture = None + return mat_inst.set_base_color(desc.base_color) mat_inst.set_metallic(desc.metallic) mat_inst.set_roughness(desc.roughness) @@ -249,9 +369,20 @@ def create_instance(self, uid: str) -> VisualMaterialInst: """ if uid in self._instances: return self._instances[uid] - inst = VisualMaterialInst(uid, self._mat) - self.set_default_properties(inst, self.cfg) + if self._uses_manifest: + # Distinct public templates may share a native immutable template. + # Keep child names private so their user-provided UIDs cannot alias. + inst = VisualMaterialInst( + uid, + self._mat, + mat_inst=self._mat.get_inst(f"ec_instance_{uuid4().hex}"), + ) + else: + inst = VisualMaterialInst(uid, self._mat) + self.set_default_properties(inst, self.cfg) self._instances[uid] = inst + if self._uses_manifest: + self._native_instance_aliases[inst.mat.get_name()] = inst return inst def get_default_instance(self) -> VisualMaterialInst: @@ -271,6 +402,10 @@ def get_instance(self, uid: str) -> VisualMaterialInst: Returns: VisualMaterialInst: The material instance. """ + if uid in self._instances: + return self._instances[uid] + if uid in self._native_instance_aliases: + return self._native_instance_aliases[uid] if uid not in self._instances: logger.log_error(f"Material instance with uid '{uid}' does not exist.") return self._instances[uid] diff --git a/embodichain/lab/sim/sim_manager.py b/embodichain/lab/sim/sim_manager.py index 934f27518..6a4eb01ce 100644 --- a/embodichain/lab/sim/sim_manager.py +++ b/embodichain/lab/sim/sim_manager.py @@ -728,6 +728,7 @@ def _initialize_simulation( self._world, num_envs=sim_config.num_envs, spacing=(sim_config.arena_space, sim_config.arena_space, 0.0), + renderer=sim_config.render_cfg.renderer, ) self._arenas = list(self._spawn_scene.builder.prepare_arenas()) self._prepared_spawn_topology_revision = -1 @@ -4819,7 +4820,7 @@ def create_visual_material(self, cfg: VisualMaterialCfg) -> VisualMaterial: cfg = cfg.replace(uid=cfg.uid or f"visual_material_{uuid4().hex}") descriptor = _material_desc_from_cfg(cfg, cfg.uid) definitions = self._spawn_scene.builder.materials - registered = definitions.get(cfg.uid) + registered = self._spawn_scene._material_definition(cfg.uid) if registered is not None and registered != descriptor: raise ValueError(f"Conflicting visual material definition for {cfg.uid!r}.") if cfg.uid in self._visual_materials: @@ -4830,13 +4831,19 @@ def create_visual_material(self, cfg: VisualMaterialCfg) -> VisualMaterial: ) return existing - mat: Material | None = self._env.find_material(cfg.uid) - initialize_default = mat is None or registered is None - if mat is None: - mat = self._env.create_pbr_material(cfg.uid, True) - visual_mat = VisualMaterial(cfg, mat, initialize_default=initialize_default) - - definitions[cfg.uid] = descriptor + if cfg.preset is not None or cfg.parameters: + self._spawn_scene._resolve_materials({cfg.uid: descriptor}) + mat, native_inst = self._spawn_scene._material_resources.resolve(descriptor) + visual_mat = VisualMaterial( + cfg, mat, initialize_default=False, mat_inst=native_inst + ) + else: + mat: Material | None = self._env.find_material(cfg.uid) + initialize_default = mat is None or registered is None + if mat is None: + mat = self._env.create_pbr_material(cfg.uid, True) + visual_mat = VisualMaterial(cfg, mat, initialize_default=initialize_default) + definitions[cfg.uid] = descriptor self._visual_materials[cfg.uid] = visual_mat return visual_mat @@ -4923,7 +4930,7 @@ def reset_objects_state( else: articulation.reset(env_ids) for uid, visual in getattr(self, "_visual_objects", {}).items(): - if uid not in excluded_uids: + if uid not in excluded_uids and visual.is_spawn_bound: visual.reset(env_ids) for uid, rigid_obj in self._rigid_objects.items(): if uid not in excluded_uids: diff --git a/embodichain/lab/sim/spawn/scene.py b/embodichain/lab/sim/spawn/scene.py index 7f3f047c9..ed4bea6ad 100644 --- a/embodichain/lab/sim/spawn/scene.py +++ b/embodichain/lab/sim/spawn/scene.py @@ -22,6 +22,11 @@ from typing import Any, Callable, Literal from ._usd_assets import _UsdTextureFiles +from .._material_presets import ( + _AssetMaterialDesc, + _MaterialResources, + _validate_backend, +) __all__ = ["SpawnScene"] @@ -41,6 +46,7 @@ class _AssetDeclaration: descriptor: Any facade: Any | None source_configurator: Callable[[Any], None] | None = None + declaration_only: bool = False class SpawnScene: @@ -57,6 +63,7 @@ def __init__( *, num_envs: int, spacing: tuple[float, float, float] = (0.0, 0.0, 0.0), + renderer: str | None = None, ) -> None: from dexsim.spawn import SceneBuilder @@ -70,6 +77,17 @@ def __init__( ) self._assets: dict[str, _AssetDeclaration] = {} self._usd_texture_files = _UsdTextureFiles() + if renderer is None: + from dexsim.types import Renderer + + renderer = { + Renderer.NORENDER: "no-render", + Renderer.HYBRID: "hybrid", + Renderer.FASTRT: "fast-rt", + Renderer.OFFLINERT: "rt", + }[world.get_renderer_type()] + self._material_resources = _MaterialResources(world, renderer) + self._resource_material_definitions: dict[str, _AssetMaterialDesc] = {} self._pending_material_assignments: ( dict[tuple[str, int, str | None], list[Any]] | None ) = None @@ -78,10 +96,47 @@ def _resolve_materials(self, materials: dict[str, Any]) -> dict[str, Any]: """Resolve package images before DexSim creates native materials.""" resolved = self._usd_texture_files.resolve(materials) for uid, descriptor in resolved.items(): - existing = self.builder.materials.get(uid) + existing = self._material_definition(uid) if existing is not None and existing != descriptor: raise ValueError(f"Conflicting visual material definition for {uid!r}.") - return resolved + resources = { + uid: desc + for uid, desc in resolved.items() + if isinstance(desc, _AssetMaterialDesc) + } + for desc in resources.values(): + _validate_backend(desc, self._material_resources.renderer) + for uid, desc in resources.items(): + if self._material_resources.renderer != "no-render": + self._material_resources.resolve(desc) + self._resource_material_definitions[uid] = desc + # Native Spawn's simplified MaterialDesc path cannot express these + # definitions. Bind the exact loaded child directly on each RenderDesc. + # NoRender retains only metadata and never invokes a native loader. + return {uid: desc for uid, desc in resolved.items() if uid not in resources} + + def _material_definition(self, uid: str) -> Any | None: + return getattr(self, "_resource_material_definitions", {}).get( + uid, self.builder.materials.get(uid) + ) + + def _bind_resource_materials(self, descriptor: Any) -> None: + definitions = getattr(self, "_resource_material_definitions", {}) + if not definitions or self._material_resources.renderer == "no-render": + return + if isinstance(descriptor, (tuple, list)): + for member in descriptor: + self._bind_resource_materials(member) + return + reference = getattr(descriptor, "material_ref", None) + if reference in definitions: + _, descriptor.material = self._material_resources.resolve( + definitions[reference] + ) + for name in ("renders", "links", "mesh", "visual_mesh"): + value = getattr(descriptor, name, None) + if value is not None: + self._bind_resource_materials(value) @property def arena_names(self) -> tuple[str, ...]: @@ -103,6 +158,7 @@ def declare( """Add a descriptor and associate it with an EmbodiChain facade.""" if uid in self._assets: raise ValueError(f"Spawn asset uid is already declared: {uid!r}.") + self._bind_resource_materials(descriptor) self._initialize_facade_declaration(facade) declaration = _AssetDeclaration( kind=kind, @@ -110,6 +166,14 @@ def declare( facade=facade, source_configurator=configure_source, ) + if ( + kind == "visual_object" + and getattr(getattr(self, "_material_resources", None), "renderer", None) + == "no-render" + ): + declaration.declaration_only = True + self._assets[uid] = declaration + return if kind == "rigid_object_group": declaration.descriptor = tuple( @@ -124,6 +188,7 @@ def declare( ): self._resolve_articulation_source(descriptor) configure_source(descriptor) + self._bind_resource_materials(descriptor) declaration.source_configurator = None add_name = { "visual_object": "add_object", @@ -169,6 +234,7 @@ def resolve_sources(self) -> None: if configure is None: continue configure(declaration.descriptor) + self._bind_resource_materials(declaration.descriptor) declaration.source_configurator = None def track( @@ -192,6 +258,9 @@ def track( def remove(self, uid: str) -> None: """Remove a declared asset from its DexSim owner.""" declaration = self._assets[uid] + if getattr(declaration, "declaration_only", False): + del self._assets[uid] + return if declaration.kind in {"soft_object", "cloth_object"}: raise NotImplementedError( "DexSim Spawn does not yet expose pending removal for " @@ -300,6 +369,16 @@ def bind(self) -> None: facade = declaration.facade if facade is None or not facade.is_declared: continue + if ( + declaration.kind == "visual_object" + and getattr( + getattr(self, "_material_resources", None), "renderer", None + ) + == "no-render" + ): + # NoRender has no transform batch for render-only actors. + # Keep their geometry/material declarations without binding. + continue if not facade._entities: facade.attach_spawn_handles(self.handles(uid)) facade.bind_spawn(result) @@ -334,6 +413,9 @@ def close(self) -> None: self.builder.result = None self._assets.clear() self._usd_texture_files.close() + if hasattr(self, "_material_resources"): + self._material_resources.close() + self._resource_material_definitions.clear() def handles(self, uid: str) -> tuple[Any, ...]: """Return currently materialized handles for one logical asset.""" diff --git a/examples/sim/rendering/default_materials.py b/examples/sim/rendering/default_materials.py new file mode 100644 index 000000000..165bd6433 --- /dev/null +++ b/examples/sim/rendering/default_materials.py @@ -0,0 +1,356 @@ +# ---------------------------------------------------------------------------- +# Copyright (c) 2021-2026 DexForce Technology Co., Ltd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ---------------------------------------------------------------------------- + +"""Preview packaged materials and compare them with direct native loading. + +Run ``python examples/sim/rendering/default_materials.py --list`` for offline +metadata. Use ``--all --compare-native --renderer rt`` for optical qualification, +and repeat with ``hybrid`` / ``fast-rt`` for the ten basic materials. Each +renderer must run in a separate process. Scene geometry, lighting and cameras +belong to this example; the material factory only loads material definitions. +""" + +from __future__ import annotations + +import argparse +import json +from pathlib import Path +from time import perf_counter +from typing import Any + + +def build_parser() -> argparse.ArgumentParser: + """Build preview options before importing simulator dependencies.""" + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--list", action="store_true") + parser.add_argument("--all", action="store_true") + parser.add_argument("--material", default="GlassClear") + parser.add_argument("--renderer", choices=("rt", "hybrid", "fast-rt"), default="rt") + parser.add_argument("--compare-native", action="store_true") + parser.add_argument( + "--model", + type=Path, + help="Optional segmented skin face GLB; not part of the material package.", + ) + parser.add_argument( + "--output", type=Path, default=Path("outputs/default-materials") + ) + parser.add_argument("--size", type=int, default=320) + parser.add_argument("--frames", type=int, default=4) + parser.add_argument("--spp", type=int, default=16) + return parser + + +def main(args: argparse.Namespace) -> None: + """Render one material or the renderer-compatible catalog with fixed settings.""" + from embodichain.data import get_default_material_info, list_default_materials + + if args.list: + for name in list_default_materials(): + print(json.dumps(get_default_material_info(name))) + return + if min(args.size, args.frames, args.spp) < 1: + raise ValueError("size, frames and spp must be positive") + names = ( + [ + name + for name in list_default_materials() + if args.renderer in get_default_material_info(name)["renderers"] + ] + if args.all + else [args.material] + ) + # Validate a single incompatible request through production creation rather + # than changing renderers or silently excluding it. + import cv2 + import numpy as np + import dexsim.render as render + from importlib.metadata import version + from embodichain.lab.sim import ( + SimulationManager, + SimulationManagerCfg, + VisualMaterialCfg, + ) + from embodichain.lab.sim.cfg import DenoisingCfg, RenderCfg + from embodichain.data.assets.materials import DefaultMaterials + + args.output.mkdir(parents=True, exist_ok=True) + sim = SimulationManager( + SimulationManagerCfg( + headless=True, + device="cpu", + scene_node_capacity=256, + startup_summary="off", + render_cfg=RenderCfg( + renderer=args.renderer, + spp=args.spp, + min_bounces=3, + max_bounces=14, + tone_mapping_enabled=True, + tone_mapping_exposure=0.9, + denoising=DenoisingCfg(window="optix", offscreen="optix"), + ), + ) + ) + world, env = sim.get_world(), sim.get_env() + camera = sample = inner = native = material = None + rows: list[dict[str, Any]] = [] + try: + sim.enable_physics(False) + sim.set_emission_light([0.85, 0.9, 1.0], 12.0) + # Independent, fixed scene: colored cards reveal transmission, broad + # rectangular lights reveal roughness and normal-map direction. + for index, (x, color) in enumerate( + ( + (-0.85, [0.8, 0.06, 0.02, 1]), + (0.0, [0.8, 0.8, 0.8, 1]), + (0.85, [0.02, 0.18, 0.8, 1]), + ) + ): + card = env.create_cube(0.7, 0.04, 1.9) + card.set_name(f"preview_card_{index}") + card.set_location(x, 1.1, 0.95) + card_material = sim.create_visual_material( + VisualMaterialCfg(uid=f"card_{index}", base_color=color, roughness=0.6) + ) + card.set_material(card_material.inst.mat) + for name, location, direction, color, power in ( + ("key", (-2, -2, 3), (2, 2, -2), (1, 0.85, 0.7), 60), + ("fill", (2, 0, 3), (-2, 0, -2), (0.6, 0.8, 1), 40), + ): + light = env.create_light(name, render.LightType.RECT) + light.set_location(*location) + light.set_direction(*direction) + light.set_color(*color) + light.set_intensity(power) + light.set_rect_wh(1.8, 1.1) + camera = env.create_camera( + "material_camera", args.size, args.size, True, render.ViewFlags.COLOR + ) + camera.set_near(0.02) + camera.set_far(20) + focal = args.size * 1.4 + camera.set_intrinsic( + np.array( + [[focal, 0, args.size / 2], [0, focal, args.size / 2], [0, 0, 1]], + dtype=np.float32, + ) + ) + camera.look_at([1.5, -3.8, 1.8], [0, 0, 0.8], [0, 0, 1]) + camera.open_camera() + source = DefaultMaterials() if args.compare_native else None + for name in names: + started = perf_counter() + material = sim.create_visual_material( + VisualMaterialCfg.from_preset(name, uid=f"preset_{name}") + ) + load_ms = (perf_counter() - started) * 1000 + if sample is not None: + env.remove_actor(sample) + if inner is not None: + env.remove_actor(inner) + inner = None + skin_segments = None + if name == "SkinHumanLight" and args.model: + if not args.model.is_file(): + raise FileNotFoundError(args.model) + sample = env.load_actor(str(args.model.resolve()), False, False) + env.attach(sample.node) + world.update(0.0) + body = sample.get_render_body() + skin_segments = [ + i + for i in range(body.get_mesh_count()) + if "skin" in body.get_segment_name(i).lower() + ] + if ( + not skin_segments + and body.get_mesh_count() == 8 + and all(not body.get_segment_name(i) for i in range(8)) + ): + skin_segments = [0, 1] # Explicit SkinFaceDemo GLB-order fallback. + if not skin_segments: + raise ValueError("The supplied face model has no Skin_* segments.") + camera.look_at([0.19, -0.69, 0.165], [0, 0, 0.10], [0, 0, 1]) + else: + category = get_default_material_info(name)["category"] + sample = ( + env.create_cube(1.3, 0.16, 1.3) + if category in {"architecture", "wood", "stone", "ground"} + else env.create_sphere(0.66, 96, 3, 2) + ) + sample.set_location(0, 0, 0.8) + sample.set_name(f"preview_{name}") + camera.look_at([1.5, -3.8, 1.8], [0, 0, 0.8], [0, 0, 1]) + if name == "SoapBubble": + # Geometry stays here: a smaller reversed-axis shell supplies + # the air-facing interface. UVs and nominal sizes are untouched. + inner = env.create_sphere(0.66, 96, 3, 2) + inner.set_name("preview_inner_shell") + inner.set_location(0, 0, 0.8) + inner.set_scale(-0.975, 0.975, 0.975) + + def bind(instance: Any, inner_instance: Any | None = None) -> None: + if skin_segments is None: + sample.set_material(instance) + else: + for segment in skin_segments: + sample.get_render_body().set_mesh_material(segment, instance) + if inner is not None: + inner.set_material(inner_instance) + + def capture(label: str) -> Any: + for _ in range(args.frames): + world.update(0.0) + camera.render(render.ViewFlags.COLOR, render.ViewFlags.COLOR, False) + rgb = np.ascontiguousarray(camera.get_rgb_map()[..., :3]) + cv2.imwrite( + str(args.output / f"{name}_{label}.png"), + cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR), + ) + return rgb + + inner_material = ( + sim.create_visual_material( + VisualMaterialCfg.from_preset( + "SoapBubbleInterior", uid="bubble_inner" + ) + ) + if inner is not None + else None + ) + bind(material.inst.mat, inner_material.inst.mat if inner_material else None) + packaged = capture("preset") + row: dict[str, Any] = { + "name": name, + "load_ms": load_ms, + "ior": material.inst.ior, + "roughness": material.inst.roughness, + "native_match": None, + } + if source: + native = env.load_material( + source.get_material_path(name), f"reference_{name}" + ) + native_inner = ( + env.load_material( + source.get_material_path("SoapBubbleInterior"), + "reference_inner", + ) + if inner is not None + else None + ) + bind( + native.get_inst(), native_inner.get_inst() if native_inner else None + ) + reference = capture("native") + repeat = capture("native_repeat") + crop = np.s_[ + args.size // 4 : 3 * args.size // 4, + args.size // 4 : 3 * args.size // 4, + :, + ] + difference = float( + np.sqrt( + np.mean( + ( + packaged[crop].astype(float) + - reference[crop].astype(float) + ) + ** 2 + ) + ) + ) + noise = float( + np.sqrt( + np.mean( + (repeat[crop].astype(float) - reference[crop].astype(float)) + ** 2 + ) + ) + ) + row.update( + rmse=difference, + native_repeat_rmse=noise, + threshold=max(3.0, 3 * noise + 0.5), + native_match=difference <= max(3.0, 3 * noise + 0.5), + ) + for getter in ( + "get_ior", + "get_roughness", + "get_metallic", + "get_transmission", + ): + actual, expected = ( + getattr(material.inst.mat, getter)(), + getattr(native.get_inst(), getter)(), + ) + if expected is None or actual is None: + assert expected is actual, (name, getter, actual, expected) + else: + assert np.isclose(actual, expected, atol=1e-5), ( + name, + getter, + actual, + expected, + ) + assert row["native_match"], row + rows.append(row) + print(json.dumps(row), flush=True) + # Exercise every unsupported advanced preset before native loading in + # real-time processes, including an advanced variation of a basic one. + rejected = [] + if args.renderer != "rt": + for name in list_default_materials(): + if args.renderer not in get_default_material_info(name)["renderers"]: + try: + sim.create_visual_material(VisualMaterialCfg.from_preset(name)) + except ValueError: + rejected.append(name) + else: + raise AssertionError(f"Backend accepted advanced preset {name}") + try: + sim.create_visual_material( + VisualMaterialCfg.from_preset( + "BrickRed", parameters={"clearcoat": 0.0} + ) + ) + except ValueError: + rejected.append("BrickRed:clearcoat") + else: + raise AssertionError("Backend accepted an advanced parameter variation") + report = { + "renderer": args.renderer, + "dexsim": version("dexsim-engine"), + "size": args.size, + "frames": args.frames, + "spp": args.spp, + "materials": rows, + "backend_rejections": rejected, + } + (args.output / "results.json").write_text( + json.dumps(report, indent=2) + "\n", encoding="utf-8" + ) + finally: + if camera is not None: + camera.close_camera() + sim.destroy(exit_process=False) + del sample, inner, native, material, camera + SimulationManager.flush_cleanup_queue() + + +if __name__ == "__main__": + main(build_parser().parse_args()) diff --git a/setup.py b/setup.py index 7227d3a03..bec663480 100644 --- a/setup.py +++ b/setup.py @@ -171,6 +171,7 @@ def main(): package_dir=get_package_dir(), package_data={ "embodichain": ["VERSION"], + "embodichain.data": ["default_materials.json"], "embodichain.gen_sim.simready_pipeline.configs": ["*.json"], "embodichain_tasks.configs": [ "**/*.json", diff --git a/tests/data/test_default_materials.py b/tests/data/test_default_materials.py new file mode 100644 index 000000000..98d33eb2f --- /dev/null +++ b/tests/data/test_default_materials.py @@ -0,0 +1,137 @@ +# ---------------------------------------------------------------------------- +# Copyright (c) 2021-2026 DexForce Technology Co., Ltd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ---------------------------------------------------------------------------- + +"""Offline discovery, CLI registration and immutable resource distribution.""" + +from __future__ import annotations + +import hashlib +import zipfile +from pathlib import Path + +import pytest + +from embodichain.data import list_default_materials, get_default_material_info +from embodichain.data.default_materials import _catalog +from embodichain.data.assets.materials import DefaultMaterials +from embodichain.data.download import get_registry + +pytestmark = pytest.mark.no_sim + + +def test_offline_catalog_is_independent_and_includes_geometry_guidance(monkeypatch): + def fail(*args, **kwargs): + raise AssertionError("Offline metadata must not construct a dataset") + + monkeypatch.setattr(DefaultMaterials, "__init__", fail) + names = list_default_materials() + assert len(names) == len(set(names)) == 18 + assert "SoapBubbleInterior" not in names + assert ( + sum(get_default_material_info(name)["renderers"] == ["rt"] for name in names) + == 8 + ) + glass = get_default_material_info("GlassClear") + assert glass["renderers"] == ["rt"] + assert glass["nominal_size_m"] == [0.5, 0.5] + glass["renderers"].clear() + assert get_default_material_info("GlassClear")["renderers"] == ["rt"] + assert get_default_material_info("SoapBubble")["geometry_notes"] + assert get_default_material_info("SoapBubbleInterior")["auxiliary"] + assert ("DefaultMaterials", DefaultMaterials) in get_registry()["materials"] + with pytest.raises(ValueError, match="Unknown default material"): + get_default_material_info("glassclear") + + +def test_verified_archive_repairs_missing_dependency_in_custom_cache( + tmp_path, monkeypatch +): + # Exercise the production constructor, lock and Open3D cache path without + # depending on a network server in unit tests. + payload = { + "Material/SoapBubble/Color.png": b"original pixels", + "Material/SoapBubbleInterior/material.json": b"{}", + } + archive = tmp_path / "fixture.zip" + with zipfile.ZipFile(archive, "w") as bundle: + for directory in ( + "Material/", + "Material/SoapBubble/", + "Material/SoapBubbleInterior/", + ): + bundle.writestr(directory, b"") + for name, content in payload.items(): + bundle.writestr(name, content) + digest = hashlib.sha256(archive.read_bytes()).hexdigest() + metadata = dict( + _catalog(), + bundle={ + **_catalog()["bundle"], + "revision": "test", + "archive_name": "fixture.zip", + "md5": hashlib.md5(archive.read_bytes()).hexdigest(), + "sha256": digest, + "upstream_url": str(archive), + "files": { + name: { + "size_bytes": len(content), + "sha256": hashlib.sha256(content).hexdigest(), + } + for name, content in payload.items() + }, + }, + ) + monkeypatch.setattr("embodichain.data.assets.materials._catalog", lambda: metadata) + monkeypatch.setattr(DefaultMaterials, "cache_prefix", "DefaultMaterials_test") + monkeypatch.delenv("EMBODICHAIN_DOWNLOAD_PREFIX", raising=False) + # Preseed a valid downloaded archive, as if downloaded on another run. + root = tmp_path / "custom-cache" + download = root / "download/DefaultMaterials_test" + download.mkdir(parents=True) + (download / "fixture.zip").write_bytes(archive.read_bytes()) + extract = root / "extract/DefaultMaterials_test" + extract.mkdir(parents=True) + (extract / "unrelated").write_bytes(b"partial extraction") + first = DefaultMaterials(str(root)) + texture = Path(first.get_material_path("SoapBubble")) / "Color.png" + assert texture.read_bytes() == b"original pixels" + texture.write_bytes(b"corrupted pixels") + second = DefaultMaterials(str(root)) + assert Path(second.extract_dir) == extract + assert texture.read_bytes() == b"original pixels" + assert (extract / "Material/SoapBubbleInterior/material.json").read_bytes() == b"{}" + + +def test_data_cli_reports_the_versioned_cache_as_ready(tmp_path, monkeypatch, capsys): + from argparse import Namespace + from embodichain.data import download + + monkeypatch.setattr(download, "EMBODICHAIN_DEFAULT_DATA_ROOT", str(tmp_path)) + extracted = tmp_path / "extract" / DefaultMaterials.cache_prefix + extracted.mkdir(parents=True) + (extracted / "Material").mkdir() + download.cmd_list(Namespace(category="materials")) + assert "[✓] DefaultMaterials" in capsys.readouterr().out + observed = [] + monkeypatch.setattr( + download, "_ensure_extract", lambda obj, prefix: observed.append(prefix) + ) + + class CachedMaterials: + cache_prefix = DefaultMaterials.cache_prefix + + assert download.download_asset("DefaultMaterials", CachedMaterials) + assert observed == [DefaultMaterials.cache_prefix] diff --git a/tests/sim/spawn/test_scene.py b/tests/sim/spawn/test_scene.py index 53ef4c2ad..2dc2f62c7 100644 --- a/tests/sim/spawn/test_scene.py +++ b/tests/sim/spawn/test_scene.py @@ -629,3 +629,23 @@ def test_replacement_declaration_does_not_attach_uncommitted_old_handle() -> Non scene.builder.has_pending_changes = False scene.bind() assert facade._entities == [new_handle] + + +def test_no_render_retains_visual_declaration_without_native_transform_binding(): + scene = _make_scene({}) + scene._material_resources = SimpleNamespace(renderer="no-render") + facade = MagicMock() + facade.is_declared = True + scene.builder.add_object = MagicMock() + scene.declare( + "visual_object", "visual", SimpleNamespace(name="visual"), facade=facade + ) + + scene.bind() + + facade.bind_spawn.assert_not_called() + facade.attach_spawn_handles.assert_not_called() + scene.builder.add_object.assert_not_called() + assert "visual" in scene._assets + scene.remove("visual") + assert "visual" not in scene._assets diff --git a/tests/sim/test_material.py b/tests/sim/test_material.py index fd958204c..cbc97df6c 100644 --- a/tests/sim/test_material.py +++ b/tests/sim/test_material.py @@ -386,3 +386,174 @@ def test_deterministic_group_reset_reapplies_properties_only_to_selected_environ assert first.roughness == pytest.approx(0.9) assert second.roughness == pytest.approx(0.2) + + +def test_preset_inheritance_and_yaml_roundtrip_keep_explicit_defaults(): + import yaml + from embodichain.lab.sim.material import _material_desc_from_cfg + from embodichain.lab.sim.shapes import ShapeCfg + + cfg = VisualMaterialCfg.from_preset("GlassClear", uid="glass") + assert cfg.ior is None + explicit = cfg.replace(ior=1.5, roughness=0.0) + explicit.parameters = {"thin_walled": False, "transmission": 0.0} + restored = VisualMaterialCfg.from_dict( + yaml.safe_load(yaml.safe_dump(explicit.to_dict())) + ) + assert restored.to_dict() == explicit.to_dict() + shape = ShapeCfg.from_dict( + yaml.safe_load( + yaml.safe_dump( + { + "shape_type": "Sphere", + "radius": 0.25, + "visual_material": explicit.to_dict(), + } + ) + ) + ) + assert shape.visual_material.to_dict() == explicit.to_dict() + assert restored.copy().to_dict() == explicit.to_dict() + assert restored.replace(ior=None).ior is None + assert restored.replace(ior=None).roughness == 0.0 + inherited_desc = _material_desc_from_cfg(cfg, "glass") + explicit_desc = _material_desc_from_cfg(explicit, "glass") + assert inherited_desc != explicit_desc + assert VisualMaterialCfg.from_dict({"preset": "GlassClear"}).ior is None + assert VisualMaterialCfg().ior == 1.5 + assert VisualMaterialCfg().roughness == 0.7 + assert VisualMaterialCfg().material_type == "BRDF" + assert ( + _material_desc_from_cfg(VisualMaterialCfg.from_dict(cfg.to_dict()), "glass") + == inherited_desc + ) + + +@pytest.mark.parametrize( + "properties", + [ + {"ior": 1.5, "parameters": {"ior": 1.6}}, + {"emissive_intensity": 0.0, "parameters": {"emission_intensity": 1.0}}, + {"parameters": {"emission_intensity": 1.0, "emissive_intensity": 2.0}}, + {"parameters": {"thin_walled": 0}}, + {"parameters": {"volume_attenuation_distance": 0.0}}, + {"parameters": {"iridescence_thickness": [520, 250]}}, + {"parameters": {"transmission": float("nan")}}, + {"parameters": {"transmission": None}}, + {"parameters": {"misspelled": 1.0}}, + {"ior": 0.0}, + {"roughness": 1.1}, + {"material_type": "BSDF"}, + {"base_color_texture": "override.png"}, + ], +) +def test_preset_invalid_overrides_fail_before_download(properties): + with pytest.raises(ValueError): + VisualMaterialCfg.from_preset("GlassClear", **properties) + + +def test_resource_wrapper_preserves_authored_template_and_resets_full_instance(): + template = _native_template() + default = template.get_inst() + default.set_pbr_param("ior", 1.52) + child = template.get_inst("private_child") + child.set_pbr_param("ior", 1.52) + template.reset_mock() + cfg = VisualMaterialCfg.from_preset("GlassClear", uid="glass") + material = VisualMaterial(cfg, template, initialize_default=False, mat_inst=child) + assert material.inst.mat is child + child.set_roughness.assert_not_called() + child.update_pbr_material_type.assert_not_called() + assert default.get_ior() == pytest.approx(1.52) + material.set_default_properties(material.inst, cfg) + template.reset_inst.assert_called_once_with(child) + with pytest.raises(ValueError, match="original definition"): + material.set_default_properties(material.inst, cfg.replace(ior=1.6)) + + +def test_preset_backend_preflight_and_no_render_declarations(): + from embodichain.lab.sim._material_presets import _MaterialResources + from embodichain.lab.sim.material import _material_desc_from_cfg + + manager = _material_manager() + scene = manager._spawn_scene + world = MagicMock() + scene._material_resources = _MaterialResources(world, "hybrid") + scene._resource_material_definitions = {} + glass = _material_desc_from_cfg( + VisualMaterialCfg.from_preset("GlassClear"), "glass" + ) + with pytest.raises(ValueError, match="OfflineRT"): + scene._resolve_materials({"glass": glass}) + advanced = _material_desc_from_cfg( + VisualMaterialCfg.from_preset("BrickRed", parameters={"clearcoat": 0.0}), + "brick", + ) + with pytest.raises(ValueError, match="OfflineRT"): + scene._resolve_materials({"brick": advanced}) + world.get_env.assert_not_called() + scene._material_resources.renderer = "no-render" + assert scene._resolve_materials({"glass": glass}) == {} + assert scene._material_definition("glass") == glass + world.get_env.assert_not_called() + scene._material_resources.close() + + +def test_native_manifest_variants_share_images_and_templates_without_mutation( + tmp_path, monkeypatch +): + import json + from pathlib import Path + from embodichain.lab.sim._material_presets import _MaterialResources + from embodichain.lab.sim.material import _material_desc_from_cfg + + source = tmp_path / "Material/GlassClear" + source.mkdir(parents=True) + (source / "Color.png").write_bytes(b"shared original image") + manifest = { + "schema_version": 1, + "parameters": { + "ior": 1.52, + "transmission": 1.0, + "volume_attenuation_color": [0.995, 0.998, 1.0], + "iridescence_thickness": [250, 520], + }, + "textures": {"base_color": "Color.png"}, + } + original = json.dumps(manifest) + (source / "material.json").write_text(original) + dataset = SimpleNamespace(get_material_path=lambda name: str(source)) + monkeypatch.setattr( + "embodichain.data.assets.materials.DefaultMaterials", lambda: dataset + ) + world = MagicMock() + world.get_env.return_value.load_material.side_effect = ( + lambda *args: _native_template() + ) + resources = _MaterialResources(world, "rt") + cfg = VisualMaterialCfg.from_preset( + "GlassClear", + ior=1.5, + parameters={"volume_attenuation_distance": 8.0, "thin_walled": False}, + ) + try: + first = resources.resolve(_material_desc_from_cfg(cfg, "one")) + second = resources.resolve(_material_desc_from_cfg(cfg, "two")) + assert first[0] is second[0] + assert first[1] is not second[1] + assert resources.resolve(_material_desc_from_cfg(cfg, "one")) is first + world.get_env.return_value.load_material.assert_called_once() + directory = Path(world.get_env.return_value.load_material.call_args.args[0]) + staged = json.loads((directory / "material.json").read_text()) + assert staged["parameters"] == { + **manifest["parameters"], + "ior": 1.5, + "volume_attenuation_distance": 8.0, + "thin_walled": False, + } + assert Path(staged["textures"]["base_color"]) == source / "Color.png" + assert list(directory.iterdir()) == [directory / "material.json"] + assert (source / "material.json").read_text() == original + finally: + resources.close() + assert not directory.exists() diff --git a/tests/sim/test_material_integration.py b/tests/sim/test_material_integration.py index eacb842be..35315715a 100644 --- a/tests/sim/test_material_integration.py +++ b/tests/sim/test_material_integration.py @@ -240,3 +240,105 @@ def test_native_material_creation_reset_and_topology_rebuild(physics): sim.destroy(exit_process=False) del obj, other, runtime SimulationManager.flush_cleanup_queue() + + +@pytest.mark.parametrize("physics", ["default", "newton"]) +def test_native_preset_identity_reset_and_rebuild(physics): + sim = SimulationManager( + SimulationManagerCfg( + headless=True, + device="cpu", + num_envs=2, + scene_node_capacity=128, + physics_cfg=physics_cfg_for_backend(physics), + render_cfg=RenderCfg(renderer="hybrid"), + ) + ) + cfg = VisualMaterialCfg.from_preset( + "BrickRed", uid="brick", ior=1.6, roughness=0.25 + ) + obj = runtime = other = child = extra = selected = alias = None + try: + # Inline first, then runtime creation borrows the exact current handle. + obj = sim.add_rigid_object( + RigidObjectCfg( + uid="brick_shape", + body_type="static", + init_pos=(0, 0, 0.5), + shape=CubeCfg(size=(0.1, 0.1, 0.1), visual_material=cfg), + ) + ) + sim.prepare() + original_ids = [m.mat.get_material_id() for m in obj.get_visual_material_inst()] + assert obj.get_visual_material_inst()[0].ior == pytest.approx(1.6) + obj.get_visual_material_inst()[0].set_roughness(0.55) + runtime = sim.create_visual_material(cfg) + assert runtime.inst.mat.get_material_id() == original_ids[0] + assert runtime.inst.roughness == pytest.approx(0.55) + # Equivalent UIDs share immutable native templates, with separate children. + other = sim.create_visual_material(cfg.replace(uid="other_brick")) + assert other.inst.mat.get_material_id() != runtime.inst.mat.get_material_id() + assert other.inst.roughness == pytest.approx(0.25) + assert runtime.mat.get_inst().get_roughness() == pytest.approx(0.25) + assert ( + other.mat.get_inst().get_material_id() + == runtime.mat.get_inst().get_material_id() + ) + child = runtime.create_instance("other_brick") + assert child.mat.get_material_id() != other.inst.mat.get_material_id() + child.set_ior(2.0) + child.mat.set_transmission(0.75) + assert child.mat.get_transmission() == pytest.approx(0.75) + runtime.set_default_properties(child, cfg) + assert child.ior == pytest.approx(1.6) + # The authored legacy template leaves transmission unset (native None). + assert child.mat.get_transmission() is None + count = runtime.mat.inst_count() + for _ in range(1025): + assert runtime.create_instance("other_brick") is child + assert sim.create_visual_material(cfg) is runtime + assert runtime.mat.inst_count() == count + with pytest.raises(ValueError, match="Conflicting visual material"): + sim.create_visual_material(cfg.replace(ior=1.7)) + # Runtime first, then a Spawn declaration binds that exact child. + alias = sim.add_visual_object( + VisualObjectCfg( + uid="runtime_alias", + shape=CubeCfg( + size=(0.1, 0.1, 0.1), visual_material=cfg.replace(uid="other_brick") + ), + ) + ) + assert ( + alias.get_visual_material_inst()[0].mat.get_material_id() + == other.inst.mat.get_material_id() + ) + obj.set_visual_material(other, [1]) + selected = obj.get_visual_material_inst([1])[0] + assert ( + other.get_instance(selected.uid).mat.get_material_id() + == selected.mat.get_material_id() + ) + selected_id = selected.mat.get_material_id() + extra = sim.add_visual_object( + VisualObjectCfg(uid="extra_preset", shape=CubeCfg(size=(0.1, 0.1, 0.1))) + ) + assert obj.get_visual_material_inst([1])[0].mat.get_material_id() == selected_id + obj.reset([1]) + assert [ + m.mat.get_material_id() for m in obj.get_visual_material_inst() + ] == original_ids + assert sim.remove_asset("extra_preset") + sim.prepare() + assert [ + m.mat.get_material_id() for m in obj.get_visual_material_inst() + ] == original_ids + # Native cleanup preserves reserved definitions and live resource state. + sim.clean_materials() + runtime = sim.create_visual_material(cfg) + assert runtime.inst.roughness == pytest.approx(0.55) + assert runtime.inst.mat.get_material_id() == original_ids[0] + finally: + sim.destroy(exit_process=False) + del obj, runtime, other, child, extra, selected, alias + SimulationManager.flush_cleanup_queue() From 16f52077a930e16686289d94e68aec7a611d7f68 Mon Sep 17 00:00:00 2001 From: yuecideng Date: Fri, 23 Oct 2026 17:15:08 +0800 Subject: [PATCH 04/10] docs(data): retain the verified material source repository --- embodichain/data/default_materials.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/embodichain/data/default_materials.json b/embodichain/data/default_materials.json index 2c272debd..209fc6acb 100644 --- a/embodichain/data/default_materials.json +++ b/embodichain/data/default_materials.json @@ -363,7 +363,7 @@ ], "bundle": { "revision": "ec9f748242c50b85", - "source_repository": "https://github.com/DexForce/dexverse", + "source_repository": "http://192.168.3.16/Engine/dexverse.git", "source_commit": "c31dccd3d4a8ef98367e1a95c92c842e0a773596", "source_path": "modules/dexsim/resources/Material", "upstream_url": "http://192.168.3.120/CoreEngine/DexSim/resources/offlinert_materials.zip", From 30f8e71a20567ea8c9e1fc166cc6c9b18804ee62 Mon Sep 17 00:00:00 2001 From: yuecideng Date: Fri, 23 Oct 2026 17:24:36 +0800 Subject: [PATCH 05/10] docs(sim): add the verified default material render overview --- docs/architecture/visual-material-acceptance.md | 5 +++++ .../visual_materials/default-materials-rc1.webp | Bin 0 -> 61114 bytes 2 files changed, 5 insertions(+) create mode 100644 docs/source/_static/visual_materials/default-materials-rc1.webp diff --git a/docs/architecture/visual-material-acceptance.md b/docs/architecture/visual-material-acceptance.md index 7ac7b9454..9da4c9164 100644 --- a/docs/architecture/visual-material-acceptance.md +++ b/docs/architecture/visual-material-acceptance.md @@ -75,6 +75,11 @@ python examples/sim/rendering/default_materials.py --all --compare-native --rend # Optionally add --model /path/to/skin_face.glb for SkinHumanLight. ``` +The OfflineRT overview below was generated from the packaged preset previews; +the skin sample uses the optional segmented face mesh. + +![Default material OfflineRT previews](../source/_static/visual_materials/default-materials-rc1.webp) + The preview writes candidate/native/repeat images and `results.json`. 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00:00:00 2001 From: yuecideng Date: Fri, 23 Oct 2026 17:36:30 +0800 Subject: [PATCH 06/10] fix(sim): canonicalize common preset overrides before replacement --- .../topics/simulation-system/materials.md | 4 ++- .../embodichain.lab.sim.material.rst | 3 +++ embodichain/lab/sim/_material_presets.py | 17 ++++++++++++ embodichain/lab/sim/material.py | 4 +++ tests/sim/test_material.py | 27 +++++++++++++++++++ 5 files changed, 54 insertions(+), 1 deletion(-) diff --git a/agent_context/topics/simulation-system/materials.md b/agent_context/topics/simulation-system/materials.md index d2b8a9af5..04cb1bb11 100644 --- a/agent_context/topics/simulation-system/materials.md +++ b/agent_context/topics/simulation-system/materials.md @@ -6,7 +6,9 @@ native instance wrappers and segment assignment helpers. Its private `spawn/descriptors.py` lowering. Handwritten configurations fill historical defaults during construction. Preset configurations keep unspecified fields as `None`; only explicit values override resources. `from_dict()` constructs in -that mode before filling defaults. Do not infer override intent from equality +that mode before filling defaults. Construction moves common parameter aliases +to flat fields so `replace(field=None)` can restore inheritance. Do not infer +override intent from equality with a default, or modify generic `configclass` for this policy. `_material_presets.py` owns validated schema-v1 overrides, renderer preflight and diff --git a/docs/source/api_reference/embodichain/embodichain.lab.sim.material.rst b/docs/source/api_reference/embodichain/embodichain.lab.sim.material.rst index 3c1377694..fc0dfa219 100644 --- a/docs/source/api_reference/embodichain/embodichain.lab.sim.material.rst +++ b/docs/source/api_reference/embodichain/embodichain.lab.sim.material.rst @@ -51,6 +51,9 @@ Handwritten configurations still fill the historical defaults at construction. Common fields stay flat; native schema-v1 advanced parameters belong in ``parameters``. ``emissive_intensity`` normalizes to ``emission_intensity``. +Common properties supplied through ``parameters`` are moved to their flat +fields during construction, so ``replace(ior=None)`` also clears that form of +override. The remaining advanced properties stay in ``parameters``. Specifying the same native property in both places is an error. Unknown, nonfinite, incorrectly typed and out-of-range parameters fail before native loading. Presets reject ``material_type`` and texture replacement; their native diff --git a/embodichain/lab/sim/_material_presets.py b/embodichain/lab/sim/_material_presets.py index 982bedc22..bf5401fe4 100644 --- a/embodichain/lab/sim/_material_presets.py +++ b/embodichain/lab/sim/_material_presets.py @@ -180,6 +180,23 @@ def _normalize_parameters(parameters: dict[str, Any]) -> dict[str, Any]: return normalized +def _canonical_cfg_parameters(cfg: VisualMaterialCfg) -> dict[str, Any]: + """Keep common overrides in their flat fields, including native aliases. + + This makes dataclasses.replace(ior=None) clear an override regardless of + whether it originally came from Python keywords or a parameters mapping. + """ + parameters = _normalize_parameters(cfg.parameters) + for field_name, key in _FLAT_PARAMETERS.items(): + if key in parameters: + if getattr(cfg, field_name) is not None: + raise ValueError( + f"Duplicate visual material parameter {key!r} in flat fields and parameters." + ) + setattr(cfg, field_name, parameters.pop(key)) + return parameters + + def _cfg_parameters(cfg: VisualMaterialCfg) -> dict[str, Any]: parameters = _normalize_parameters(cfg.parameters) for field_name, key in _FLAT_PARAMETERS.items(): diff --git a/embodichain/lab/sim/material.py b/embodichain/lab/sim/material.py index 081dff924..a623ebf8e 100644 --- a/embodichain/lab/sim/material.py +++ b/embodichain/lab/sim/material.py @@ -100,6 +100,10 @@ class VisualMaterialCfg: """Native schema-v1 advanced parameters; cannot duplicate common fields.""" def __post_init__(self) -> None: + if self.preset is not None or self.parameters: + from ._material_presets import _canonical_cfg_parameters + + self.parameters = _canonical_cfg_parameters(self) if self.preset is None: defaults = { "base_color": [0.5, 0.5, 0.5, 1.0], diff --git a/tests/sim/test_material.py b/tests/sim/test_material.py index cbc97df6c..7b8d834fc 100644 --- a/tests/sim/test_material.py +++ b/tests/sim/test_material.py @@ -557,3 +557,30 @@ def test_native_manifest_variants_share_images_and_templates_without_mutation( finally: resources.close() assert not directory.exists() + + +def test_common_parameter_aliases_canonicalize_before_replace_restores_inheritance(): + from embodichain.lab.sim.material import _material_desc_from_cfg + + cfg = VisualMaterialCfg.from_dict( + { + "preset": "GlassClear", + "uid": "glass", + "parameters": {"ior": 1.5, "emission_intensity": 0.0, "thin_walled": False}, + } + ) + expected = VisualMaterialCfg.from_preset( + "GlassClear", + uid="glass", + ior=1.5, + emissive_intensity=0.0, + parameters={"thin_walled": False}, + ) + assert cfg.to_dict() == expected.to_dict() + inherited = cfg.replace(ior=None, emissive_intensity=None) + assert inherited.ior is None and inherited.emissive_intensity is None + assert inherited.parameters == {"thin_walled": False} + assert _material_desc_from_cfg(inherited, "glass") == _material_desc_from_cfg( + VisualMaterialCfg.from_preset("GlassClear", parameters={"thin_walled": False}), + "glass", + ) From 4f24e396eb62502b4edf8577b88539c4ee4c4ab1 Mon Sep 17 00:00:00 2001 From: yuecideng Date: Fri, 23 Oct 2026 19:31:12 +0800 Subject: [PATCH 07/10] feat(sim): add built-in material presets and OfflineRT galleries --- .../topics/data-assets/data-assets.md | 6 + .../topics/simulation-system/materials.md | 6 + .../visual-material-acceptance.md | 6 +- .../_static/visual_materials/AsphaltDark.webp | Bin 0 -> 11744 bytes .../_static/visual_materials/BrickRed.webp | Bin 0 -> 21060 bytes .../visual_materials/CeramicTileWhite.webp | Bin 0 -> 18858 bytes .../visual_materials/ChromePolished.webp | Bin 0 -> 14322 bytes .../visual_materials/CopperPolished.webp | Bin 0 -> 15078 bytes .../_static/visual_materials/FabricGray.webp | Bin 0 -> 13626 bytes .../_static/visual_materials/GlassClear.webp | Bin 0 -> 15024 bytes .../visual_materials/GlassClearSurface.webp | Bin 0 -> 13190 bytes .../visual_materials/GlassFrosted.webp | Bin 0 -> 14188 bytes .../visual_materials/GlassFrostedSurface.webp | Bin 0 -> 11212 bytes .../_static/visual_materials/GlassSmoke.webp | Bin 0 -> 11878 bytes .../_static/visual_materials/GoldMetal.webp | Bin 0 -> 13018 bytes .../visual_materials/GoldPolished.webp | Bin 0 -> 15124 bytes .../visual_materials/LeatherBrown.webp | Bin 0 -> 18368 bytes .../_static/visual_materials/MarbleWhite.webp | Bin 0 -> 16258 bytes .../_static/visual_materials/MirrorMetal.webp | Bin 0 -> 12790 bytes .../visual_materials/PlasticABSBlack.webp | Bin 0 -> 10688 bytes .../visual_materials/PlasticGlossyRed.webp | Bin 0 -> 12548 bytes .../visual_materials/PlasticMatteBlue.webp | Bin 0 -> 11984 bytes .../_static/visual_materials/RubberBlack.webp | Bin 0 -> 11058 bytes .../visual_materials/SkinHumanLight.webp | Bin 0 -> 11678 bytes .../_static/visual_materials/SoapBubble.webp | Bin 0 -> 15826 bytes .../visual_materials/SteelBrushed.webp | Bin 0 -> 18952 bytes .../_static/visual_materials/WoodOak.webp | Bin 0 -> 17562 bytes .../visual_materials/advanced-materials.webp | Bin 0 -> 82846 bytes .../visual_materials/builtin-materials.webp | Bin 0 -> 59722 bytes .../default-materials-rc1.webp | Bin 61114 -> 0 bytes .../visual_materials/default-materials.webp | Bin 0 -> 244952 bytes .../visual_materials/surface-materials.webp | Bin 0 -> 108502 bytes .../embodichain.lab.sim.material.rst | 15 +- docs/source/api_reference/public_api.rst | 4 +- .../sim/sim_manager/rendering/index.rst | 2 + .../sim/sim_manager/rendering/materials.md | 293 ++++++++++++++++++ embodichain/data/assets/materials.py | 13 +- embodichain/data/default_materials.json | 208 +++++++++++++ embodichain/data/default_materials.py | 18 +- embodichain/lab/sim/_material_presets.py | 11 +- examples/sim/rendering/default_materials.py | 161 +++++++++- tests/data/test_default_materials.py | 21 +- tests/sim/test_material.py | 47 +++ 43 files changed, 785 insertions(+), 26 deletions(-) create mode 100644 docs/source/_static/visual_materials/AsphaltDark.webp create mode 100644 docs/source/_static/visual_materials/BrickRed.webp create mode 100644 docs/source/_static/visual_materials/CeramicTileWhite.webp create mode 100644 docs/source/_static/visual_materials/ChromePolished.webp create mode 100644 docs/source/_static/visual_materials/CopperPolished.webp create mode 100644 docs/source/_static/visual_materials/FabricGray.webp create mode 100644 docs/source/_static/visual_materials/GlassClear.webp create mode 100644 docs/source/_static/visual_materials/GlassClearSurface.webp create mode 100644 docs/source/_static/visual_materials/GlassFrosted.webp create mode 100644 docs/source/_static/visual_materials/GlassFrostedSurface.webp create mode 100644 docs/source/_static/visual_materials/GlassSmoke.webp create mode 100644 docs/source/_static/visual_materials/GoldMetal.webp create mode 100644 docs/source/_static/visual_materials/GoldPolished.webp create mode 100644 docs/source/_static/visual_materials/LeatherBrown.webp create mode 100644 docs/source/_static/visual_materials/MarbleWhite.webp create mode 100644 docs/source/_static/visual_materials/MirrorMetal.webp create mode 100644 docs/source/_static/visual_materials/PlasticABSBlack.webp create mode 100644 docs/source/_static/visual_materials/PlasticGlossyRed.webp create mode 100644 docs/source/_static/visual_materials/PlasticMatteBlue.webp create mode 100644 docs/source/_static/visual_materials/RubberBlack.webp create mode 100644 docs/source/_static/visual_materials/SkinHumanLight.webp create mode 100644 docs/source/_static/visual_materials/SoapBubble.webp create mode 100644 docs/source/_static/visual_materials/SteelBrushed.webp create mode 100644 docs/source/_static/visual_materials/WoodOak.webp create mode 100644 docs/source/_static/visual_materials/advanced-materials.webp create mode 100644 docs/source/_static/visual_materials/builtin-materials.webp delete mode 100644 docs/source/_static/visual_materials/default-materials-rc1.webp create mode 100644 docs/source/_static/visual_materials/default-materials.webp create mode 100644 docs/source/_static/visual_materials/surface-materials.webp create mode 100644 docs/source/overview/sim/sim_manager/rendering/materials.md diff --git a/agent_context/topics/data-assets/data-assets.md b/agent_context/topics/data-assets/data-assets.md index 25f0c1645..08b61c7be 100644 --- a/agent_context/topics/data-assets/data-assets.md +++ b/agent_context/topics/data-assets/data-assets.md @@ -80,6 +80,12 @@ revision-specific cache prefix and the shared dataset lock, verifies archive SHA256 and member digests, and repairs extraction from the verified archive. Its data CLI registration follows the existing materials category. +The same catalog includes six built-in parameter presets with their own revision, +native parameters and no texture size. Metadata distinguishes `source` and +`requires_download`; only resource entries belong to the `DefaultMaterials` +archive. The runtime resolves built-ins directly from wheel metadata before any +dataset construction. Keep their definitions out of the upstream ZIP checksum. + The original DexSim archive is currently on its internal resource server; an explicit `EMBODICHAIN_DOWNLOAD_PREFIX` selects the catalog's versioned mirror path. Do not substitute an unverified public URL or depend on a DexSim source diff --git a/agent_context/topics/simulation-system/materials.md b/agent_context/topics/simulation-system/materials.md index 04cb1bb11..94979f409 100644 --- a/agent_context/topics/simulation-system/materials.md +++ b/agent_context/topics/simulation-system/materials.md @@ -20,6 +20,12 @@ loaded child on `RenderDesc.material`, including across rebuilds. NoRender keeps resource definitions without downloading or creating native materials. Render-only facades stay declared and are skipped by runtime binding/reset in that mode. +Built-in parameter presets resolve from wheel metadata without constructing the +downloadable resource dataset. Both sources use complete manifests and the same +override, identity and reset path. Human-facing previews and parameter tables +live in the [material guide](../../../docs/source/overview/sim/sim_manager/rendering/materials.md); +keep renderer capabilities in the catalog. + Resource templates remain immutable. Each public UID and instance receives a separate child; canonical revision/preset/overrides select shared templates. Stage parameter variations before binding and keep texture paths in the shared diff --git a/docs/architecture/visual-material-acceptance.md b/docs/architecture/visual-material-acceptance.md index 9da4c9164..fe9aef3c5 100644 --- a/docs/architecture/visual-material-acceptance.md +++ b/docs/architecture/visual-material-acceptance.md @@ -58,11 +58,11 @@ In addition to the legacy handwritten-material checks above, qualify the unified | --- | --- | | Inheritance | GlassClear inherits IOR 1.52; explicit 1.5 overrides it. Zero/false are explicit; `replace(ior=None)` restores inheritance. No flat/native duplicate properties or invalid parameters reach native loading. | | Round trips | Constructor, factory, Python/YAML, copy, replace and dictionary round trips retain the preset and unspecified state. Manual construction retains historical concrete defaults. | -| Distribution | Offline queries list 18 public presets, with SoapBubbleInterior available explicitly. Build/install a wheel away from the source checkout. With an empty data cache, download the pinned archive; repeat without network, repair a missing/corrupt member, and verify auxiliary texture references. | +| Distribution | Offline queries list 24 public presets, including six built-ins without a texture-archive download, with SoapBubbleInterior available explicitly. Build/install a wheel away from the source checkout. With an empty data cache, download the pinned archive; repeat without network, repair a missing/corrupt member, and verify auxiliary texture references. | | Renderer preflight | Ten basic presets load on Hybrid/FastRT/OfflineRT. Eight advanced presets, the helper and advanced parameter variations require OfflineRT. Reject before download/native loading. NoRender preserves declarations and does neither. | | Native resources | Runtime-first and inline-first aliases share exact handles. Different UIDs use separate children of immutable templates. Repeated creation preserves state and bounded native instance counts. Variants stage JSON only, never duplicate PNGs. | | Lifecycle | Complete native template reset restores properties beyond the flattened fields. Default/Newton selection, reset, topology rebuild and cleanup preserve identity and expected assignments. | -| Optical parity | Render all 18 on OfflineRT and the ten basic presets on Hybrid and FastRT. Compare the package route to direct native loading with identical geometry/camera/lights, plus a native-repeat noise control. Use closed glass meshes, explicit double shells for bubbles and optional segmented face geometry. | +| Optical parity | Render all 24 on OfflineRT and the fourteen compatible presets on Hybrid and FastRT. Compare the package route to direct native loading with identical geometry/camera/lights, plus a native-repeat noise control. Use closed glass meshes, explicit double shells for bubbles and optional segmented face geometry. | ```bash python -m pytest -q tests/data/test_default_materials.py tests/sim/test_material.py @@ -78,7 +78,7 @@ python examples/sim/rendering/default_materials.py --all --compare-native --rend The OfflineRT overview below was generated from the packaged preset previews; the skin sample uses the optional segmented face mesh. -![Default material OfflineRT previews](../source/_static/visual_materials/default-materials-rc1.webp) +![Default material OfflineRT previews](../source/_static/visual_materials/default-materials.webp) The preview writes candidate/native/repeat images and `results.json`. 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zP?%BMjMF{eKn2l_9LhHJAepomMtI&#g%*!3#fY!Kaa$FD0jsHt!#03TNYx&7jxf!U zfZ#8ZfSV~rP_X_F?JUekX}1F)CUK+UU7!R$Pp`ds*kR8ME#OH9v9y~Vm<3D&%mxb? zSm7fokID`J4{r4EQDH!cgG6ni6OXST7h%x+b@4KZYpVa9&l5z}oJK-)%d!9lnoz`x zmp+pp5psad3`Z4^(+DK}J^^c?C3tOu!ce+pdlHirMzrkn(t?ge8=L@m4<+?b4p;%a zS^JqYYf@)0wU7GCd?)z*gn^KzeDL~XMVE?skz=gdy<3L@&Et;00000 g0000000000000000000000000000000000003tJDDF6Tf literal 0 HcmV?d00001 diff --git a/docs/source/api_reference/embodichain/embodichain.lab.sim.material.rst b/docs/source/api_reference/embodichain/embodichain.lab.sim.material.rst index fc0dfa219..d2f5bb7cb 100644 --- a/docs/source/api_reference/embodichain/embodichain.lab.sim.material.rst +++ b/docs/source/api_reference/embodichain/embodichain.lab.sim.material.rst @@ -17,6 +17,11 @@ segmentation masks stay consistent across replicated environments. Default material presets ------------------------ +The 24-preset catalog contains six built-in parameter definitions and 18 +downloadable resources. See the +:doc:`material guide ` for +parameter tables, individual previews and OfflineRT galleries. + Handwritten and asset-based materials use the same configuration type:: from embodichain.data import list_default_materials, get_default_material_info @@ -66,6 +71,10 @@ native manifest and retain the manual material-type policy. ``SteelBrushed`` support ``hybrid``, ``fast-rt`` and ``rt``. ``ChromePolished``, ``GoldPolished``, ``CopperPolished``, ``GlassClear``, ``GlassFrosted``, ``GlassSmoke``, ``SkinHumanLight`` and ``SoapBubble`` require ``rt`` (OfflineRT). +The built-ins ``PlasticMatteBlue``, ``PlasticGlossyRed``, ``GoldMetal`` and +``MirrorMetal`` support all three renderers. ``GlassClearSurface`` and +``GlassFrostedSurface`` require ``rt`` and configure surface transmission without +volume absorption. Advanced parameter variations of a basic preset also require ``rt``; the factory rejects incompatible renderers before downloading or loading assets. NoRender stores declarations without downloading or creating native materials. @@ -79,7 +88,11 @@ including advanced parameters and textures. Repeated creation preserves state. Native shader-model changes after binding are outside this interface's scope; pre-create variants and bind their instances instead. -Catalog queries do not require a World or asset download. The archive is lazy, +Catalog queries do not require a World or asset download. The six built-ins +include native parameter defaults in the wheel and do not request the texture +archive. Their metadata exposes ``source="builtin"`` and +``requires_download=False``. Resource metadata uses ``source="resource"``. +The archive is lazy, revisioned and checksum-verified. Pre-download with ``embodichain data download --name DefaultMaterials``. The current upstream archive is hosted on the DexSim internal resource server. To use a mirror, set diff --git a/docs/source/api_reference/public_api.rst b/docs/source/api_reference/public_api.rst index a729a8cd6..e7e8598af 100644 --- a/docs/source/api_reference/public_api.rst +++ b/docs/source/api_reference/public_api.rst @@ -142,7 +142,9 @@ embodichain.data.default_materials ------------------------------------ The wheel includes catalog metadata so these functions work offline without -asset downloads. Both functions are also available from ``embodichain.data``. +asset downloads. Both functions are also available from ``embodichain.data``. The 24-preset +catalog combines six built-in parameter definitions and 18 downloadable +resources; metadata identifies their source and download requirement. Metadata includes compatible renderer names, source revision, dependencies, auxiliary resources and suggested physical texture dimensions. Dimensions do not change geometry or UVs. diff --git a/docs/source/overview/sim/sim_manager/rendering/index.rst b/docs/source/overview/sim/sim_manager/rendering/index.rst index 38d9eb42f..9a4d39db0 100644 --- a/docs/source/overview/sim/sim_manager/rendering/index.rst +++ b/docs/source/overview/sim/sim_manager/rendering/index.rst @@ -8,6 +8,7 @@ quality, DLSS, and related performance trade-offs. Start with :doc:`configuration` for common ``RenderCfg`` options. Use :doc:`dlss` for NVIDIA DLSS behavior and temporal-rendering settings. +Use :doc:`materials` for default material presets, parameters and OfflineRT galleries. See also -------- @@ -17,3 +18,4 @@ See also configuration.md dlss.md + materials.md diff --git a/docs/source/overview/sim/sim_manager/rendering/materials.md b/docs/source/overview/sim/sim_manager/rendering/materials.md new file mode 100644 index 000000000..f00b3301e --- /dev/null +++ b/docs/source/overview/sim/sim_manager/rendering/materials.md @@ -0,0 +1,293 @@ +# Visual materials and default presets + +EmbodiChain provides **24 public material presets** through one +`VisualMaterialCfg.from_preset()` interface: six built-in parameter presets and +18 downloadable resource presets. A separate `SoapBubbleInterior` auxiliary +material supplies the inward-facing interface for the bubble preview. + +The images below are actual DexSim **0.5.1rc1 OfflineRT** renders. All presets +use the same studio lighting and exposure; a checkerboard and colored cards +make reflection, transmission and roughness visible. Click a material name in +a table to open its individual image. + +## Create and override a material + +Select `RenderCfg(renderer="rt")` for OfflineRT; see {doc}`configuration` for +renderer and denoising options. With an existing simulation manager `sim`: + +```python +from embodichain.lab.sim import VisualMaterialCfg +from embodichain.lab.sim.shapes import SphereCfg + +cfg = VisualMaterialCfg.from_preset("PlasticMatteBlue", uid="blue") +material = sim.create_visual_material(cfg) +shape = SphereCfg(radius=0.25, visual_material=cfg) + +# Create another variant before binding it to geometry. +glossy_cfg = cfg.replace(uid="blue_glossy", roughness=0.08) +glossy_material = sim.create_visual_material(glossy_cfg) +``` + +Unspecified fields remain `None` and inherit their preset values. Explicit zero +and false values override the preset. `cfg.replace(roughness=None)` restores +inheritance. Common fields stay flat; advanced native parameters belong in +`parameters`: + +```python +glass = VisualMaterialCfg.from_preset( + "GlassClear", ior=1.6, + parameters={"volume_attenuation_distance": 8.0}, +) +``` + +Presets select scattering through native material parameters. Keep variants +pre-created and rebind their instances when changing appearance. The manual +`material_type` interface remains available for handwritten configurations. +See the {doc}`material API ` +for UID sharing, validation, copy/replace, reset and lifecycle rules. + +## Built-in parameter presets + +These six definitions are included in the wheel and **do not download the +`DefaultMaterials` texture archive**. They contain no texture maps. The simulator +initialization and its common scene resources follow their usual setup. + +![Built-in parameter presets rendered with OfflineRT](../../../../_static/visual_materials/builtin-materials.webp) + +| Preset | Base color RGBA | Metallic | Roughness | Transmission | IOR | Renderers | +| --- | --- | ---: | ---: | ---: | ---: | --- | +| [PlasticMatteBlue](../../../../_static/visual_materials/PlasticMatteBlue.webp) | `[0.05, 0.22, 0.6, 1]` | 0 | 0.65 | 0 | 1.5 | Hybrid / FastRT / OfflineRT | +| [PlasticGlossyRed](../../../../_static/visual_materials/PlasticGlossyRed.webp) | `[0.55, 0.025, 0.025, 1]` | 0 | 0.08 | 0 | 1.5 | Hybrid / FastRT / OfflineRT | +| [GoldMetal](../../../../_static/visual_materials/GoldMetal.webp) | `[0.95, 0.76, 0.32, 1]` | 1 | 0.22 | 0 | 1.5 | Hybrid / FastRT / OfflineRT | +| [MirrorMetal](../../../../_static/visual_materials/MirrorMetal.webp) | `[0.95, 0.95, 0.95, 1]` | 1 | 0 | 0 | 1.5 | Hybrid / FastRT / OfflineRT | +| [GlassClearSurface](../../../../_static/visual_materials/GlassClearSurface.webp) | `[1, 1, 1, 1]` | 0 | 0 | 1 | 1.5 | OfflineRT | +| [GlassFrostedSurface](../../../../_static/visual_materials/GlassFrostedSurface.webp) | `[1, 1, 1, 1]` | 0 | 0.28 | 1 | 1.5 | OfflineRT | + +All six use `emissive=[0, 0, 0]` and `emission_intensity=1`. The two surface-glass +presets explicitly use `thin_walled=true` and configure no volume absorption. +Their supported factory backend is OfflineRT. + +Choose `GlassClearSurface` or `GlassFrostedSurface` for simple surface transport. +Choose the resource `GlassClear`, `GlassFrosted` or `GlassSmoke` when a closed +object needs authored volume absorption and texture detail. These are separate +material definitions with different optical parameters. + +## Resource presets + +The resource collection keeps its native texture maps and material manifests. +It is downloaded lazily through `DefaultMaterials`, with a revision-specific +cache, archive/member integrity checks and the existing download lock. + +### Basic texture materials + +![Basic resource materials rendered with OfflineRT](../../../../_static/visual_materials/surface-materials.webp) + +All ten support **Hybrid, FastRT and OfflineRT**. Each uses 1024×1024 color, +roughness, metallic, ambient-occlusion and OpenGL normal maps. Their legacy +directories declare no scalar material manifest, so those fields retain the +native DexSim defaults. The factory does not substitute handwritten-config +defaults. Suggested dimensions describe a texture repeat; they do not resize +geometry or change UVs. + +| Preset | Appearance | Suggested texture dimensions, m | +| --- | --- | --- | +| [BrickRed](../../../../_static/visual_materials/BrickRed.webp) | Red fired brick with gray mortar | 1.2 × 0.84 | +| [WoodOak](../../../../_static/visual_materials/WoodOak.webp) | Warm oak wood grain | 0.8 × 0.8 | +| [CeramicTileWhite](../../../../_static/visual_materials/CeramicTileWhite.webp) | White glazed ceramic tiles with gray grout | 1 × 1 | +| [MarbleWhite](../../../../_static/visual_materials/MarbleWhite.webp) | Polished white marble with gray veins | 1.5 × 1.5 | +| [AsphaltDark](../../../../_static/visual_materials/AsphaltDark.webp) | Dark asphalt with fine aggregate | 2 × 2 | +| [FabricGray](../../../../_static/visual_materials/FabricGray.webp) | Fine woven gray fabric | 0.25 × 0.25 | +| [LeatherBrown](../../../../_static/visual_materials/LeatherBrown.webp) | Brown grained leather | 0.35 × 0.35 | +| [PlasticABSBlack](../../../../_static/visual_materials/PlasticABSBlack.webp) | Black ABS plastic with a subtle orange-peel finish | 0.25 × 0.25 | +| [RubberBlack](../../../../_static/visual_materials/RubberBlack.webp) | Rough black rubber | 0.25 × 0.25 | +| [SteelBrushed](../../../../_static/visual_materials/SteelBrushed.webp) | Directional brushed steel | 0.5 × 0.5 | + +### Advanced resource materials + +![Advanced resource materials rendered with OfflineRT](../../../../_static/visual_materials/advanced-materials.webp) + +These eight presets require **OfflineRT**. Incompatible renderers fail before +asset download or native material loading. Advanced parameter variations of +basic presets also require OfflineRT. + +| Preset | Appearance | Important authored parameters | +| --- | --- | --- | +| [ChromePolished](../../../../_static/visual_materials/ChromePolished.webp) | Highly reflective polished chrome | metallic 1; anisotropy 0.16 | +| [GoldPolished](../../../../_static/visual_materials/GoldPolished.webp) | Polished gold | metallic 1; anisotropy 0.10 | +| [CopperPolished](../../../../_static/visual_materials/CopperPolished.webp) | Polished copper | metallic 1; anisotropy 0.12 | +| [GlassClear](../../../../_static/visual_materials/GlassClear.webp) | Clear solid glass with weak volume absorption | IOR 1.52; transmission 1; attenuation distance 15 | +| [GlassFrosted](../../../../_static/visual_materials/GlassFrosted.webp) | Rough transmitting frosted glass | IOR 1.50; transmission 0.94; attenuation distance 2.5 | +| [GlassSmoke](../../../../_static/visual_materials/GlassSmoke.webp) | Gray-blue absorbing smoke glass | IOR 1.52; transmission 0.98; attenuation distance 0.45 | +| [SkinHumanLight](../../../../_static/visual_materials/SkinHumanLight.webp) | Light human skin with pores and approximate diffuse transmission | IOR 1.4; specular 0.48; diffuse transmission 0.16 | +| [SoapBubble](../../../../_static/visual_materials/SoapBubble.webp) | Soap film with spatially varying iridescence | IOR 1.33; film thickness 250–520 nm; iridescence factor 1 | + +With texture maps, `base_color`, `metallic` and `roughness` are factors. A +`roughness` factor of 1 preserves the roughness map distribution. Gold and +copper coloration comes from their color textures. + +### Full advanced parameter definitions + +The following are the resource manifests' explicit native parameters. Unlisted +fields inherit native defaults. The native `emission_intensity` key corresponds +with the flat configuration field `emissive_intensity`. + +```yaml +ChromePolished: + base_color: [1.0, 1.0, 1.0, 1.0] + metallic: 1.0 + roughness: 1.0 + specular_strength: 1.0 + anisotropy_strength: 0.16 + anisotropy_rotation: 0.0 + double_sided: false +GoldPolished: + base_color: [1.0, 1.0, 1.0, 1.0] + metallic: 1.0 + roughness: 1.0 + specular_strength: 1.0 + anisotropy_strength: 0.1 + anisotropy_rotation: 0.0 + double_sided: false +CopperPolished: + base_color: [1.0, 1.0, 1.0, 1.0] + metallic: 1.0 + roughness: 1.0 + specular_strength: 1.0 + anisotropy_strength: 0.12 + anisotropy_rotation: 0.0 + double_sided: false +GlassClear: + base_color: [1.0, 1.0, 1.0, 1.0] + metallic: 0.0 + roughness: 1.0 + ior: 1.52 + transmission: 1.0 + specular_strength: 1.0 + volume_thickness: 1.0 + volume_attenuation_color: [0.995, 0.998, 1.0] + volume_attenuation_distance: 15.0 + thin_walled: false + double_sided: false +GlassFrosted: + base_color: [1.0, 1.0, 1.0, 1.0] + metallic: 0.0 + roughness: 1.0 + ior: 1.5 + transmission: 0.94 + specular_strength: 1.0 + volume_thickness: 1.0 + volume_attenuation_color: [0.86, 0.94, 0.97] + volume_attenuation_distance: 2.5 + thin_walled: false + double_sided: false +GlassSmoke: + base_color: [1.0, 1.0, 1.0, 1.0] + metallic: 0.0 + roughness: 1.0 + ior: 1.52 + transmission: 0.98 + specular_strength: 1.0 + volume_thickness: 1.0 + volume_attenuation_color: [0.44, 0.53, 0.64] + volume_attenuation_distance: 0.45 + thin_walled: false + double_sided: false +SkinHumanLight: + base_color: [1.0, 1.0, 1.0, 1.0] + metallic: 0.0 + roughness: 1.0 + ior: 1.4 + specular_color: [1.0, 0.96, 0.92] + specular_strength: 0.48 + sheen_color: [0.14, 0.035, 0.022] + sheen_roughness: 0.58 + clearcoat: 0.1 + clearcoat_roughness: 0.3 + diffuse_transmission_color: [1.0, 0.24, 0.14] + diffuse_transmission_strength: 0.16 + double_sided: false +SoapBubble: + base_color: [1.0, 1.0, 1.0, 1.0] + metallic: 0.0 + roughness: 0.075 + ior: 1.33 + transmission: 1.0 + specular_strength: 1.0 + emissive: [1.0, 1.0, 1.0] + emission_intensity: 0.32 + volume_thickness: 1.0 + volume_attenuation_color: [0.9, 0.85, 0.84] + volume_attenuation_distance: 3.0 + iridescence_factor: 1.0 + iridescence_ior: 1.75 + iridescence_reflection_boost: 2.6 + iridescence_min_reflection: 0.045 + iridescence_thickness: [250.0, 520.0] + thin_walled: false + double_sided: false +``` + +### Bubble and skin geometry + +`SoapBubble` binds color, AO, metallic, iridescence-thickness and emissive maps. +The explicit auxiliary `SoapBubbleInterior` reuses the outer resource's color, +AO, metallic and normal maps. It has roughness 0.035, transmission 1, IOR 1.33, +zero emission and zero iridescence factor. Its attenuation color is +`[0.90, 0.85, 0.84]`, attenuation distance is 3, and volume thickness is 1. +Both interfaces use `thin_walled=false` and `double_sided=false`. The preview +creates a smaller inward-facing inner shell; the factory only creates materials. + +`SkinHumanLight` approximates skin using texture detail, specular reflection, +sheen, clearcoat and diffuse transmission. It does not implement random-walk +subsurface scattering. The portrait preview uses an optional caller-provided +segmented `SkinFaceDemo` GLB; that mesh is not included in the material archive. +Without `--model`, the example renders the same skin material on a sphere. + +## Query, cache and reproduce + +```python +from embodichain.data import list_default_materials, get_default_material_info + +names = list_default_materials() # 24 public presets, no World or download +info = get_default_material_info("PlasticMatteBlue") +assert info["source"] == "builtin" +assert info["requires_download"] is False +print(info["parameters"]) +``` + +`SoapBubbleInterior` is available by name but omitted from the public list. +Built-ins have no texture resolution or nominal texture size. Resource metadata +contains dimensions, compatible renderers, dependencies and the pinned resource +revision. Both sources share the same runtime/Spawn resolver and UID rules. +NoRender retains declarations without downloading or loading native materials. + +```bash +# Offline catalog query. +python examples/sim/rendering/default_materials.py --list + +# Only the six built-in parameter materials. +python examples/sim/rendering/default_materials.py \ + --all --source builtin --renderer rt --compare-native --size 640 --frames 6 --spp 12 --gallery + +# All 24 presets; add --model /path/to/skin_face.glb for the portrait sample. +python examples/sim/rendering/default_materials.py \ + --all --renderer rt --compare-native --size 640 --frames 6 --spp 12 --gallery + +# Pre-download the 18 resource presets and the bubble helper. +embodichain data download --name DefaultMaterials +``` + +The preview saves lossless `*_preset.png`, `*_native.png` and +`*_native_repeat.png` images plus `results.json`. Direct-native comparisons use +the original resource directory or the built-in native parameter definition, +with the same geometry, camera, exposure and lights. Material parameter readback +and center-crop image differences are checked against a native-repeat control. +The documentation images are compressed WebP exports of the preset captures. + +The resource archive is currently hosted on the DexSim internal resource server. +To use a mirror, set `EMBODICHAIN_DOWNLOAD_PREFIX` before importing EmbodiChain +and provide the identical archive at +`materials/default-materials/ec9f748242c50b85/offlinert_materials.zip` beneath +your prefix. Built-in parameter definitions remain available in the wheel. +The resource revision, file digests and upstream attribution are recorded in +`embodichain/data/default_materials.json`. diff --git a/embodichain/data/assets/materials.py b/embodichain/data/assets/materials.py index 1c94e072c..80dad36a7 100644 --- a/embodichain/data/assets/materials.py +++ b/embodichain/data/assets/materials.py @@ -133,12 +133,21 @@ def get_material_path(self, name: str) -> str: """Get an authored preset directory in this verified resource revision. Args: - name: Public preset name or ``SoapBubbleInterior``. + name: Downloadable resource preset or ``SoapBubbleInterior``. Returns: Absolute path suitable for DexSim's native material loader. + + Raises: + ValueError: The name is unknown or denotes a built-in parameter + preset, which has no directory in this archive. """ - get_default_material_info(name) + info = get_default_material_info(name) + if not info["requires_download"]: + raise ValueError( + f"{name!r} is a built-in parameter preset with no resource directory; " + "use VisualMaterialCfg.from_preset()." + ) return str(Path(self.extract_dir) / "Material" / name) diff --git a/embodichain/data/default_materials.json b/embodichain/data/default_materials.json index 209fc6acb..eee19ffd3 100644 --- a/embodichain/data/default_materials.json +++ b/embodichain/data/default_materials.json @@ -359,6 +359,214 @@ "auxiliary": true, "geometry_notes": "Bind to a separately authored inward-facing inner shell.", "auxiliary_resources": [] + }, + { + "name": "PlasticMatteBlue", + "category": "polymer", + "description": "Matte blue plastic", + "source": "builtin", + "revision": "builtin-v1", + "parameters": { + "base_color": [ + 0.05, + 0.22, + 0.6, + 1 + ], + "metallic": 0.0, + "roughness": 0.65, + "ior": 1.5, + "transmission": 0.0, + "emissive": [ + 0, + 0, + 0 + ], + "emission_intensity": 1.0 + }, + "renderers": [ + "hybrid", + "fast-rt", + "rt" + ], + "nominal_size_m": null, + "dependencies": [], + "auxiliary": false, + "auxiliary_resources": [], + "geometry_notes": "" + }, + { + "name": "PlasticGlossyRed", + "category": "polymer", + "description": "Glossy red plastic", + "source": "builtin", + "revision": "builtin-v1", + "parameters": { + "base_color": [ + 0.55, + 0.025, + 0.025, + 1 + ], + "metallic": 0.0, + "roughness": 0.08, + "ior": 1.5, + "transmission": 0.0, + "emissive": [ + 0, + 0, + 0 + ], + "emission_intensity": 1.0 + }, + "renderers": [ + "hybrid", + "fast-rt", + "rt" + ], + "nominal_size_m": null, + "dependencies": [], + "auxiliary": false, + "auxiliary_resources": [], + "geometry_notes": "" + }, + { + "name": "GoldMetal", + "category": "metal", + "description": "Gold-colored metal", + "source": "builtin", + "revision": "builtin-v1", + "parameters": { + "base_color": [ + 0.95, + 0.76, + 0.32, + 1 + ], + "metallic": 1.0, + "roughness": 0.22, + "ior": 1.5, + "transmission": 0.0, + "emissive": [ + 0, + 0, + 0 + ], + "emission_intensity": 1.0 + }, + "renderers": [ + "hybrid", + "fast-rt", + "rt" + ], + "nominal_size_m": null, + "dependencies": [], + "auxiliary": false, + "auxiliary_resources": [], + "geometry_notes": "" + }, + { + "name": "MirrorMetal", + "category": "metal", + "description": "Smooth silver-colored metallic mirror", + "source": "builtin", + "revision": "builtin-v1", + "parameters": { + "base_color": [ + 0.95, + 0.95, + 0.95, + 1 + ], + "metallic": 1.0, + "roughness": 0, + "ior": 1.5, + "transmission": 0.0, + "emissive": [ + 0, + 0, + 0 + ], + "emission_intensity": 1.0 + }, + "renderers": [ + "hybrid", + "fast-rt", + "rt" + ], + "nominal_size_m": null, + "dependencies": [], + "auxiliary": false, + "auxiliary_resources": [], + "geometry_notes": "" + }, + { + "name": "GlassClearSurface", + "category": "glass", + "description": "Clear glass with surface transmission", + "source": "builtin", + "revision": "builtin-v1", + "parameters": { + "base_color": [ + 1, + 1, + 1, + 1 + ], + "metallic": 0.0, + "roughness": 0, + "ior": 1.5, + "transmission": 1.0, + "emissive": [ + 0, + 0, + 0 + ], + "emission_intensity": 1.0, + "thin_walled": true + }, + "renderers": [ + "rt" + ], + "nominal_size_m": null, + "dependencies": [], + "auxiliary": false, + "auxiliary_resources": [], + "geometry_notes": "Surface-only transmission; no volume absorption is configured." + }, + { + "name": "GlassFrostedSurface", + "category": "glass", + "description": "Frosted glass with rough surface transmission", + "source": "builtin", + "revision": "builtin-v1", + "parameters": { + "base_color": [ + 1, + 1, + 1, + 1 + ], + "metallic": 0.0, + "roughness": 0.28, + "ior": 1.5, + "transmission": 1.0, + "emissive": [ + 0, + 0, + 0 + ], + "emission_intensity": 1.0, + "thin_walled": true + }, + "renderers": [ + "rt" + ], + "nominal_size_m": null, + "dependencies": [], + "auxiliary": false, + "auxiliary_resources": [], + "geometry_notes": "Surface-only transmission; no volume absorption is configured." } ], "bundle": { diff --git a/embodichain/data/default_materials.py b/embodichain/data/default_materials.py index de8bf7b64..10e866007 100644 --- a/embodichain/data/default_materials.py +++ b/embodichain/data/default_materials.py @@ -37,7 +37,7 @@ def _catalog() -> dict[str, Any]: def list_default_materials() -> list[str]: - """List the 18 public presets without downloading assets or creating a World. + """List the 24 public presets without downloading assets or creating a World. Returns: Preset names in catalog order. Auxiliary resources are omitted. @@ -52,8 +52,10 @@ def get_default_material_info(name: str) -> dict[str, Any]: name: Case-sensitive catalog name, including ``SoapBubbleInterior``. Returns: - Description, supported renderers, dependencies, suggested texture size, - geometry guidance and source revision. Suggested sizes do not change UVs. + Description, source, download requirement, supported renderers, + dependencies, geometry guidance and source revision. Built-in presets + also include their native parameter defaults and have no texture size. + Suggested resource sizes do not change UVs. Raises: ValueError: The name is not in the built-in catalog. @@ -61,8 +63,14 @@ def get_default_material_info(name: str) -> dict[str, Any]: for item in _catalog()["materials"]: if item["name"] == name: result = copy.deepcopy(item) - result["texture_resolution"] = list(_catalog()["texture_resolution"]) - result["revision"] = _catalog()["bundle"]["revision"] + result.setdefault("source", "resource") + result["requires_download"] = result["source"] != "builtin" + result["texture_resolution"] = ( + list(_catalog()["texture_resolution"]) + if result["requires_download"] + else None + ) + result.setdefault("revision", _catalog()["bundle"]["revision"]) return result raise ValueError( f"Unknown default material {name!r}. Available presets: {', '.join(list_default_materials())}." diff --git a/embodichain/lab/sim/_material_presets.py b/embodichain/lab/sim/_material_presets.py index bf5401fe4..2161529a3 100644 --- a/embodichain/lab/sim/_material_presets.py +++ b/embodichain/lab/sim/_material_presets.py @@ -313,7 +313,16 @@ def __init__(self, world: Any, renderer: str) -> None: self._instances: dict[str, tuple[Any, Any]] = {} def _manifest(self, desc: _AssetMaterialDesc) -> dict[str, Any]: - if desc.preset: + info = get_default_material_info(desc.preset) if desc.preset else None + if info is not None and info["source"] == "builtin": + directory = Path.cwd() + pack_root = None + manifest = { + "schema_version": 1, + "parameters": info["parameters"], + "textures": {}, + } + elif desc.preset: if self._dataset is None: from embodichain.data.assets.materials import DefaultMaterials diff --git a/examples/sim/rendering/default_materials.py b/examples/sim/rendering/default_materials.py index 165bd6433..da06b6e2c 100644 --- a/examples/sim/rendering/default_materials.py +++ b/examples/sim/rendering/default_materials.py @@ -18,7 +18,7 @@ Run ``python examples/sim/rendering/default_materials.py --list`` for offline metadata. Use ``--all --compare-native --renderer rt`` for optical qualification, -and repeat with ``hybrid`` / ``fast-rt`` for the ten basic materials. Each +and repeat with ``hybrid`` / ``fast-rt`` for the compatible materials. Each renderer must run in a separate process. Scene geometry, lighting and cameras belong to this example; the material factory only loads material definitions. """ @@ -28,6 +28,7 @@ import argparse import json from pathlib import Path +from tempfile import TemporaryDirectory from time import perf_counter from typing import Any @@ -37,9 +38,20 @@ def build_parser() -> argparse.ArgumentParser: parser = argparse.ArgumentParser(description=__doc__) parser.add_argument("--list", action="store_true") parser.add_argument("--all", action="store_true") + parser.add_argument( + "--source", + choices=("all", "builtin", "resource"), + default="all", + help="Filter --all by built-in parameters or downloadable resources.", + ) parser.add_argument("--material", default="GlassClear") parser.add_argument("--renderer", choices=("rt", "hybrid", "fast-rt"), default="rt") parser.add_argument("--compare-native", action="store_true") + parser.add_argument( + "--gallery", + action="store_true", + help="Export WebP previews and grouped galleries.", + ) parser.add_argument( "--model", type=Path, @@ -54,6 +66,84 @@ def build_parser() -> argparse.ArgumentParser: return parser +def write_galleries(output: Path, rows: list[dict[str, Any]], renderer: str) -> None: + """Export captured images without changing their rendering settings. + + Args: + output: Directory containing the preset PNG captures. + rows: Material records from the completed rendering run. + renderer: Renderer name shown in gallery captions. + """ + import math + from importlib.metadata import version + import matplotlib + from PIL import Image + from embodichain.data import get_default_material_info + + matplotlib.use("Agg") + from matplotlib import pyplot as plt + + for row in rows: + with Image.open(output / f"{row['name']}_preset.png") as capture: + capture.save(output / f"{row['name']}.webp", quality=92) + groups = { + "default-materials": (rows, 6), + "builtin-materials": ([row for row in rows if row["source"] == "builtin"], 3), + "surface-materials": ( + [ + row + for row in rows + if row["source"] == "resource" + and len(get_default_material_info(row["name"])["renderers"]) > 1 + ], + 5, + ), + "advanced-materials": ( + [ + row + for row in rows + if row["source"] == "resource" + and get_default_material_info(row["name"])["renderers"] == ["rt"] + ], + 4, + ), + } + for filename, (records, columns) in groups.items(): + if not records: + continue + columns = min(columns, len(records)) + count_rows = math.ceil(len(records) / columns) + fig, axes = plt.subplots( + count_rows, + columns, + figsize=(3.2 * columns, 3.5 * count_rows), + squeeze=False, + facecolor="#171b20", + ) + for axis in axes.flat: + axis.axis("off") + for axis, row in zip(axes.flat, records): + with Image.open(output / f"{row['name']}_preset.png") as capture: + axis.imshow(capture.copy()) + axis.set_title(row["name"], fontsize=11, color="white", pad=6) + renderer_label = {"rt": "OfflineRT", "hybrid": "Hybrid", "fast-rt": "FastRT"}[ + renderer + ] + fig.suptitle( + f"Default materials · DexSim {version('dexsim-engine')} · {renderer_label}", + color="white", + fontsize=15, + ) + fig.tight_layout(rect=(0, 0, 1, 0.95)) + fig.savefig( + output / f"{filename}.webp", + dpi=160, + facecolor=fig.get_facecolor(), + pil_kwargs={"quality": 90}, + ) + plt.close(fig) + + def main(args: argparse.Namespace) -> None: """Render one material or the renderer-compatible catalog with fixed settings.""" from embodichain.data import get_default_material_info, list_default_materials @@ -69,6 +159,10 @@ def main(args: argparse.Namespace) -> None: name for name in list_default_materials() if args.renderer in get_default_material_info(name)["renderers"] + and ( + args.source == "all" + or get_default_material_info(name)["source"] == args.source + ) ] if args.all else [args.material] @@ -107,10 +201,11 @@ def main(args: argparse.Namespace) -> None: ) world, env = sim.get_world(), sim.get_env() camera = sample = inner = native = material = None + reference_files = None rows: list[dict[str, Any]] = [] try: sim.enable_physics(False) - sim.set_emission_light([0.85, 0.9, 1.0], 12.0) + sim.set_emission_light([0.85, 0.9, 1.0], 24.0) # Independent, fixed scene: colored cards reveal transmission, broad # rectangular lights reveal roughness and normal-map direction. for index, (x, color) in enumerate( @@ -127,9 +222,17 @@ def main(args: argparse.Namespace) -> None: VisualMaterialCfg(uid=f"card_{index}", base_color=color, roughness=0.6) ) card.set_material(card_material.inst.mat) + if index == 1: + yy, xx = np.indices((256, 256)) + checks = ((xx // 32 + yy // 32) % 2)[..., None] + pixels = np.where(checks, [225, 225, 225], [45, 45, 45]).astype( + np.uint8 + ) + texture = env.create_color_texture(pixels, has_alpha=False) + card_material.inst.set_base_color_texture(texture_obj=texture) for name, location, direction, color, power in ( - ("key", (-2, -2, 3), (2, 2, -2), (1, 0.85, 0.7), 60), - ("fill", (2, 0, 3), (-2, 0, -2), (0.6, 0.8, 1), 40), + ("key", (-2, -2, 3), (2, 2, -2), (1, 0.85, 0.7), 90), + ("fill", (2, 0, 3), (-2, 0, -2), (0.6, 0.8, 1), 60), ): light = env.create_light(name, render.LightType.RECT) light.set_location(*location) @@ -151,8 +254,14 @@ def main(args: argparse.Namespace) -> None: ) camera.look_at([1.5, -3.8, 1.8], [0, 0, 0.8], [0, 0, 1]) camera.open_camera() - source = DefaultMaterials() if args.compare_native else None + source = None + reference_files = ( + TemporaryDirectory(prefix="ec-material-reference-") + if args.compare_native + else None + ) for name in names: + info = get_default_material_info(name) started = perf_counter() material = sim.create_visual_material( VisualMaterialCfg.from_preset(name, uid=f"preset_{name}") @@ -217,10 +326,14 @@ def capture(label: str) -> Any: world.update(0.0) camera.render(render.ViewFlags.COLOR, render.ViewFlags.COLOR, False) rgb = np.ascontiguousarray(camera.get_rgb_map()[..., :3]) - cv2.imwrite( + saved = cv2.imwrite( str(args.output / f"{name}_{label}.png"), cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR), ) + if not saved: + raise RuntimeError( + f"Cannot save {name}_{label}.png to {args.output}." + ) return rgb inner_material = ( @@ -239,12 +352,33 @@ def capture(label: str) -> Any: "load_ms": load_ms, "ior": material.inst.ior, "roughness": material.inst.roughness, + "metallic": material.inst.mat.get_metallic(), + "transmission": material.inst.mat.get_transmission(), + "base_color": material.inst.base_color, "native_match": None, + "source": info["source"], } - if source: - native = env.load_material( - source.get_material_path(name), f"reference_{name}" - ) + if args.compare_native: + if info["source"] == "builtin": + reference_path = Path(reference_files.name) / name + reference_path.mkdir() + # Direct native baseline uses the authored definition, + # without the runtime resolver or Python default setters. + (reference_path / "material.json").write_text( + json.dumps( + { + "schema_version": 1, + "parameters": info["parameters"], + "textures": {}, + } + ), + encoding="utf-8", + ) + else: + if source is None: + source = DefaultMaterials() + reference_path = Path(source.get_material_path(name)) + native = env.load_material(str(reference_path), f"reference_{name}") native_inner = ( env.load_material( source.get_material_path("SoapBubbleInterior"), @@ -293,6 +427,7 @@ def capture(label: str) -> Any: "get_roughness", "get_metallic", "get_transmission", + "get_base_color", ): actual, expected = ( getattr(material.inst.mat, getter)(), @@ -301,7 +436,7 @@ def capture(label: str) -> Any: if expected is None or actual is None: assert expected is actual, (name, getter, actual, expected) else: - assert np.isclose(actual, expected, atol=1e-5), ( + assert np.allclose(actual, expected, atol=1e-5), ( name, getter, actual, @@ -349,7 +484,11 @@ def capture(label: str) -> Any: camera.close_camera() sim.destroy(exit_process=False) del sample, inner, native, material, camera + if reference_files is not None: + reference_files.cleanup() SimulationManager.flush_cleanup_queue() + if args.gallery: + write_galleries(args.output, rows, args.renderer) if __name__ == "__main__": diff --git a/tests/data/test_default_materials.py b/tests/data/test_default_materials.py index 98d33eb2f..006406104 100644 --- a/tests/data/test_default_materials.py +++ b/tests/data/test_default_materials.py @@ -38,11 +38,11 @@ def fail(*args, **kwargs): monkeypatch.setattr(DefaultMaterials, "__init__", fail) names = list_default_materials() - assert len(names) == len(set(names)) == 18 + assert len(names) == len(set(names)) == 24 assert "SoapBubbleInterior" not in names assert ( sum(get_default_material_info(name)["renderers"] == ["rt"] for name in names) - == 8 + == 10 ) glass = get_default_material_info("GlassClear") assert glass["renderers"] == ["rt"] @@ -51,6 +51,21 @@ def fail(*args, **kwargs): assert get_default_material_info("GlassClear")["renderers"] == ["rt"] assert get_default_material_info("SoapBubble")["geometry_notes"] assert get_default_material_info("SoapBubbleInterior")["auxiliary"] + assert ( + sum(not get_default_material_info(name)["requires_download"] for name in names) + == 6 + ) + builtin = get_default_material_info("PlasticMatteBlue") + assert builtin["source"] == "builtin" + assert builtin["texture_resolution"] is None + assert builtin["nominal_size_m"] is None + assert builtin["revision"] == "builtin-v1" + assert builtin["parameters"]["base_color"] == [0.05, 0.22, 0.6, 1] + builtin["parameters"]["base_color"][0] = 1.0 + assert ( + get_default_material_info("PlasticMatteBlue")["parameters"]["base_color"][0] + == 0.05 + ) assert ("DefaultMaterials", DefaultMaterials) in get_registry()["materials"] with pytest.raises(ValueError, match="Unknown default material"): get_default_material_info("glassclear") @@ -113,6 +128,8 @@ def test_verified_archive_repairs_missing_dependency_in_custom_cache( assert Path(second.extract_dir) == extract assert texture.read_bytes() == b"original pixels" assert (extract / "Material/SoapBubbleInterior/material.json").read_bytes() == b"{}" + with pytest.raises(ValueError, match="built-in parameter preset"): + second.get_material_path("PlasticMatteBlue") def test_data_cli_reports_the_versioned_cache_as_ready(tmp_path, monkeypatch, capsys): diff --git a/tests/sim/test_material.py b/tests/sim/test_material.py index 7b8d834fc..34239a53c 100644 --- a/tests/sim/test_material.py +++ b/tests/sim/test_material.py @@ -584,3 +584,50 @@ def test_common_parameter_aliases_canonicalize_before_replace_restores_inheritan VisualMaterialCfg.from_preset("GlassClear", parameters={"thin_walled": False}), "glass", ) + + +def test_builtin_presets_resolve_without_resource_download_and_keep_overrides( + monkeypatch, +): + import json + from pathlib import Path + from embodichain.data import get_default_material_info + from embodichain.lab.sim._material_presets import _MaterialResources + from embodichain.lab.sim.material import _material_desc_from_cfg + + def forbidden(*args, **kwargs): + raise AssertionError("Built-in presets must not construct DefaultMaterials") + + monkeypatch.setattr("embodichain.data.assets.materials.DefaultMaterials", forbidden) + world = MagicMock() + world.get_env.return_value.load_material.side_effect = ( + lambda *args: _native_template() + ) + resources = _MaterialResources(world, "rt") + cfg = VisualMaterialCfg.from_preset("PlasticMatteBlue", roughness=0.0) + try: + resources.resolve(_material_desc_from_cfg(cfg, "blue")) + path = ( + Path(world.get_env.return_value.load_material.call_args.args[0]) + / "material.json" + ) + manifest = json.loads(path.read_text()) + assert manifest["parameters"]["base_color"] == [0.05, 0.22, 0.6, 1] + assert manifest["parameters"]["roughness"] == 0.0 + assert manifest["parameters"]["transmission"] == 0.0 + assert manifest["textures"] == {} + assert ( + get_default_material_info("PlasticMatteBlue")["parameters"]["roughness"] + == 0.65 + ) + resources.resolve( + _material_desc_from_cfg(cfg.replace(roughness=None), "inherited") + ) + path = ( + Path(world.get_env.return_value.load_material.call_args.args[0]) + / "material.json" + ) + assert json.loads(path.read_text())["parameters"]["roughness"] == 0.65 + assert resources._dataset is None + finally: + resources.close() From ec08ef28ddd5a83d9a41c3c5d4375104a52e7dc8 Mon Sep 17 00:00:00 2001 From: yuecideng Date: Fri, 23 Oct 2026 21:00:25 +0800 Subject: [PATCH 08/10] feat(cli): add default material preview and gallery export --- agent_context/MAP.yaml | 8 +- .../topics/data-assets/data-assets.md | 7 +- .../topics/simulation-system/materials.md | 12 +- .../visual-material-acceptance.md | 9 +- docs/source/api_reference/public_api.rst | 18 + docs/source/guides/cli.md | 18 + docs/source/guides/index.rst | 1 + docs/source/guides/preview_material.md | 116 +++ .../sim/sim_manager/rendering/materials.md | 20 +- embodichain/_material_catalog.py | 77 ++ embodichain/cli/main.py | 5 + embodichain/data/default_materials.py | 60 +- embodichain/lab/scripts/preview_material.py | 740 ++++++++++++++++++ examples/sim/rendering/default_materials.py | 478 +---------- tests/lab/scripts/test_preview_material.py | 233 ++++++ tests/test_main.py | 1 + 16 files changed, 1259 insertions(+), 544 deletions(-) create mode 100644 docs/source/guides/preview_material.md create mode 100644 embodichain/_material_catalog.py create mode 100644 embodichain/lab/scripts/preview_material.py create mode 100644 tests/lab/scripts/test_preview_material.py diff --git a/agent_context/MAP.yaml b/agent_context/MAP.yaml index 902193def..1616368e8 100644 --- a/agent_context/MAP.yaml +++ b/agent_context/MAP.yaml @@ -11,7 +11,7 @@ topics: aliases: [simulation system, simulation manager, Newton physics backend, motion module, sim motion, camera attachment, 运动能力模块, 仿真系统, 仿真管理器] keywords: [SimulationManager, SimulationManagerCfg, RenderCfg, DenoisingCfg, DenoisingMode, DLSSCfg, NRDCfg, DLSS, NRD, frame_time_delta_ms, explicit physics stepping, arena, DexSim, PhysicsBackendCfg, - DefaultPhysicsCfg, NewtonPhysicsCfg, VisualObject, VisualObjectCfg, VisualMaterial, VisualMaterialCfg, VisualMaterialInst, UsdSourceCfg, source_prim_path, add_visual_object, 纯渲染对象, AutoSolverCfg, DexUniSolverCfg, DexUni, runtime control, deformable, particle set, + DefaultPhysicsCfg, NewtonPhysicsCfg, VisualObject, VisualObjectCfg, VisualMaterial, VisualMaterialCfg, VisualMaterialInst, preview-material, 材质预览, UsdSourceCfg, source_prim_path, add_visual_object, 纯渲染对象, AutoSolverCfg, DexUniSolverCfg, DexUni, runtime control, deformable, particle set, ArticulationJointKinematics, get_parent_joint_chain, asset_physics_mode, joint_drive_props, enable_gravity, fixed-cadence playback, quaternion, xyzw] paths: [topics/simulation-system/simulation-system.md] @@ -26,6 +26,7 @@ topics: - embodichain/lab/sim/spawn/ - embodichain/lab/sim/material.py - embodichain/lab/sim/_material_presets.py + - embodichain/lab/scripts/preview_material.py - embodichain/lab/sim/common.py - embodichain/lab/sim/_startup_summary.py - embodichain/lab/sim/_runtime_controls.py @@ -36,7 +37,7 @@ topics: - embodichain/lab/sim/objects/gizmo.py - embodichain/lab/gym/envs/base_env.py watch_paths: [embodichain/lab/sim/sim_manager.py, embodichain/lab/sim/cfg/, embodichain/lab/sim/physics/, - embodichain/lab/sim/spawn/, embodichain/lab/sim/material.py, embodichain/lab/sim/_material_presets.py, embodichain/lab/sim/objects/, tests/sim/] + embodichain/lab/sim/spawn/, embodichain/lab/sim/material.py, embodichain/lab/sim/_material_presets.py, embodichain/lab/scripts/preview_material.py, tests/lab/scripts/test_preview_material.py, embodichain/lab/sim/objects/, tests/sim/] related_topics: [env-framework, robot-system, sensor-system, sim-visualization, ik-solvers, motion-planning, atomic-actions, rl-learning, configclass-pattern, robot-workspace] status: active @@ -433,7 +434,8 @@ topics: - embodichain/data/assets/materials.py - embodichain/data/default_materials.py - embodichain/data/default_materials.json - watch_paths: [embodichain/data/, embodichain/cli/main.py, tests/data/] + - embodichain/_material_catalog.py + watch_paths: [embodichain/data/, embodichain/_material_catalog.py, embodichain/cli/main.py, tests/data/] related_topics: [gen-sim, robot-system, data-pipeline] status: active - id: data-pipeline diff --git a/agent_context/topics/data-assets/data-assets.md b/agent_context/topics/data-assets/data-assets.md index 08b61c7be..584300178 100644 --- a/agent_context/topics/data-assets/data-assets.md +++ b/agent_context/topics/data-assets/data-assets.md @@ -12,7 +12,7 @@ Online sampling and demonstration persistence belong to | Cache roots / mirror prefix | `embodichain/data/constants.py` | | Locked download and ZIP integrity | `embodichain/data/dataset.py`: `EmbodiChainDataset`, `_dataset_download_lock()` | | CLI list/download | `embodichain/data/download.py`: `CATEGORY_MODULES`, `get_registry()`, `download_asset()` | -| Default material catalog / provenance | `embodichain/data/default_materials.py`, `default_materials.json` | +| Default material catalog / provenance | `embodichain/_material_catalog.py` → `embodichain/data/default_materials.py`; `embodichain/data/default_materials.json` | | Default material archive | `embodichain/data/assets/materials.py`: `DefaultMaterials` | | Dataset class visibility | `embodichain/data/__init__.py`, `embodichain/data/assets/__init__.py` | | Pretrained policy bundles | `embodichain/data/assets/policy_assets.py`: `download_pretrained_policy()` | @@ -75,7 +75,10 @@ by default and accepts local exports through `--source`. `list_default_materials()` and `get_default_material_info()` are exported from `embodichain.data` and query wheel-packaged metadata without a World or download. -`setup.py` must include that catalog explicitly. `DefaultMaterials` uses a +The shared implementation lives in `_material_catalog.py` so CLI catalog queries +can avoid importing the data package's Open3D/download dependencies. Preserve the +public data exports and one catalog implementation. `setup.py` must include +that catalog explicitly. `DefaultMaterials` uses a revision-specific cache prefix and the shared dataset lock, verifies archive SHA256 and member digests, and repairs extraction from the verified archive. Its data CLI registration follows the existing materials category. diff --git a/agent_context/topics/simulation-system/materials.md b/agent_context/topics/simulation-system/materials.md index 94979f409..d1139d4d7 100644 --- a/agent_context/topics/simulation-system/materials.md +++ b/agent_context/topics/simulation-system/materials.md @@ -23,8 +23,16 @@ facades stay declared and are skipped by runtime binding/reset in that mode. Built-in parameter presets resolve from wheel metadata without constructing the downloadable resource dataset. Both sources use complete manifests and the same override, identity and reset path. Human-facing previews and parameter tables -live in the [material guide](../../../docs/source/overview/sim/sim_manager/rendering/materials.md); -keep renderer capabilities in the catalog. +live in the [material guide](../../../docs/source/overview/sim/sim_manager/rendering/materials.md). +`embodichain/lab/scripts/preview_material.py` owns `preview-material`; the example +delegates to it with a headless default. Help/list use the lightweight catalog +without simulator imports. Rendering preflights the same configurations/backend +validator as production before World creation. Batch exclusions require explicit +`--compatible-only` and are reported; never switch renderers or silently drop +parameters. Geometry, studio settings and direct-native comparisons belong to +the preview, not the material factory. See the +[CLI guide](../../../docs/source/guides/preview_material.md) and +`tests/lab/scripts/test_preview_material.py`; keep capabilities in the catalog. Resource templates remain immutable. Each public UID and instance receives a separate child; canonical revision/preset/overrides select shared templates. diff --git a/docs/architecture/visual-material-acceptance.md b/docs/architecture/visual-material-acceptance.md index fe9aef3c5..44fac7f67 100644 --- a/docs/architecture/visual-material-acceptance.md +++ b/docs/architecture/visual-material-acceptance.md @@ -63,15 +63,16 @@ In addition to the legacy handwritten-material checks above, qualify the unified | Native resources | Runtime-first and inline-first aliases share exact handles. Different UIDs use separate children of immutable templates. Repeated creation preserves state and bounded native instance counts. Variants stage JSON only, never duplicate PNGs. | | Lifecycle | Complete native template reset restores properties beyond the flattened fields. Default/Newton selection, reset, topology rebuild and cleanup preserve identity and expected assignments. | | Optical parity | Render all 24 on OfflineRT and the fourteen compatible presets on Hybrid and FastRT. Compare the package route to direct native loading with identical geometry/camera/lights, plus a native-repeat noise control. Use closed glass meshes, explicit double shells for bubbles and optional segmented face geometry. | +| Preview CLI | Installed-wheel help/list need no simulator imports, GPU or asset download. Overrides preserve inheritance and explicit zero/false. Incompatible requests fail before World creation; compatible-only batches report every exclusion. Captures and metadata reproduce the selected configuration. | ```bash -python -m pytest -q tests/data/test_default_materials.py tests/sim/test_material.py +python -m pytest -q tests/data/test_default_materials.py tests/sim/test_material.py tests/lab/scripts/test_preview_material.py tests/test_main.py python -m pytest -q --run-gpu tests/sim/test_material_integration.py # Each renderer requires a separate process. Run native checks serially. -python examples/sim/rendering/default_materials.py --all --compare-native --renderer rt -python examples/sim/rendering/default_materials.py --all --compare-native --renderer hybrid -python examples/sim/rendering/default_materials.py --all --compare-native --renderer fast-rt +embodichain preview-material --all --headless --compare-native --renderer rt +embodichain preview-material --all --compatible-only --compare-native --renderer hybrid +embodichain preview-material --all --compatible-only --compare-native --renderer fast-rt # Optionally add --model /path/to/skin_face.glb for SkinHumanLight. ``` diff --git a/docs/source/api_reference/public_api.rst b/docs/source/api_reference/public_api.rst index e7e8598af..095a621c3 100644 --- a/docs/source/api_reference/public_api.rst +++ b/docs/source/api_reference/public_api.rst @@ -919,6 +919,24 @@ embodichain.lab.scripts.preview_lerobot_data main resolve_dataset_root +embodichain.lab.scripts.preview_material +---------------------------------------- + +.. currentmodule:: embodichain.lab.scripts.preview_material + +Query the default catalog without loading simulation dependencies, or render +presets and parameter variants with fixed preview settings and managed cleanup. + +.. autosummary:: + + main + cli + +.. autofunction:: main + +.. autofunction:: cli + + embodichain.lab.scripts.preview_robot ------------------------------------- diff --git a/docs/source/guides/cli.md b/docs/source/guides/cli.md index f9f8b131f..c210501d8 100644 --- a/docs/source/guides/cli.md +++ b/docs/source/guides/cli.md @@ -91,6 +91,24 @@ See {doc}`preview_robot` for robot files, overrides, and bounded headless runs. --- +(cli-preview-material)= +## Preview Material + +Query default presets, open a native material preview or export rendered images: + +```bash +embodichain preview-material --list +embodichain preview-material --material GlassClear +embodichain preview-material --all --headless --gallery --output outputs/materials +``` + +OfflineRT (`--renderer rt`) is the default. Other renderers reject incompatible +requests; `--all --compatible-only` explicitly selects and reports supported +presets. See {doc}`preview_material` for JSON overrides, output metadata, +direct-native comparisons and renderer requirements. + +--- + (cli-list-tasks)= ## List Tasks diff --git a/docs/source/guides/index.rst b/docs/source/guides/index.rst index ba6a9518c..fe4daf74d 100644 --- a/docs/source/guides/index.rst +++ b/docs/source/guides/index.rst @@ -12,6 +12,7 @@ Practical guides for common tasks in EmbodiChain. add_robot preview_asset preview_robot + preview_material run_task expert_task_language offline_expert_datasets diff --git a/docs/source/guides/preview_material.md b/docs/source/guides/preview_material.md new file mode 100644 index 000000000..14679d9c1 --- /dev/null +++ b/docs/source/guides/preview_material.md @@ -0,0 +1,116 @@ +# Preview default materials + +`embodichain preview-material` previews a default material in a native DexSim +window or exports images from a fixed studio scene. It uses the same +`VisualMaterialCfg.from_preset()` resolver as runtime and Spawn material creation. +`python -m embodichain preview-material` is equivalent and works outside the +source checkout after installing the wheel. + +See the {doc}`material catalog ` +for all 24 public presets, their parameters, OfflineRT images and download setup. + +## Query and preview + +```bash +# Metadata only: no simulator imports, GPU initialization or material download. +embodichain preview-material --list +embodichain preview-material --list --source builtin + +# Open the native window after saving a reference capture. +embodichain preview-material --material GlassClear + +# Export one image and exit without a window. +embodichain preview-material --material PlasticMatteBlue --headless \ + --output outputs/blue +``` + +The default material is `GlassClear` and the default renderer is `rt` +(**OfflineRT**), which supports the complete catalog. A single preview stays +open until Ctrl+C; `--max-steps 100` bounds its preview updates. Physics is +disabled. Use `--gpu-id` to select the render GPU; `--size`, `--frames` and +`--spp` control capture resolution, accumulation frames and DexSim render +iterations per frame. The defaults are 320 pixels, four frames and 16 iterations. + +## Override a preset + +Pass a JSON object containing `VisualMaterialCfg` fields. Common fields stay +flat, while advanced fields belong inside `parameters`: + +```bash +embodichain preview-material --material GlassClear --headless \ + --material-params '{"ior":1.6,"parameters":{"volume_attenuation_distance":8.0}}' \ + --output outputs/glass-variant + +embodichain preview-material --material PlasticMatteBlue --headless \ + --material-params '{"roughness":0}' --output outputs/smooth-blue +``` + +Omitted fields and JSON `null` inherit the preset. Explicit `0` and `false` +remain overrides. Duplicate flat/native properties, invalid values, +`material_type` and texture edits fail before creating a World or loading assets. +The command owns material UIDs; select the preset using `--material`. + +Variants are created before binding. The preview does not depend on native +cross-model hot mutation or change the material factory's geometry/UV behavior. + +## Batch export and renderer requirements + +```bash +# All 24 presets, individual WebPs and grouped galleries. Batch mode has no window. +embodichain preview-material --all --headless --gallery \ + --size 640 --frames 6 --spp 12 --output outputs/material-catalog + +# Only the six built-in parameter definitions; no material-archive download. +embodichain preview-material --all --source builtin --gallery + +# Explicitly export the 14 presets supported by Hybrid. +embodichain preview-material --all --renderer hybrid --compatible-only \ + --output outputs/materials-hybrid +``` + +Hybrid and FastRT support ten basic resource presets and four built-in +parameter presets. The remaining ten public presets and advanced parameter +variations require OfflineRT. An incompatible request fails before resource +download or native loading; the command never changes the renderer or downgrades +material parameters. With `--all --compatible-only`, excluded names and reasons +are printed to stderr and recorded in `results.json`. If no presets remain, +the command fails. `--source` filters `--list` and `--all`; `--material-params` +applies the supplied overrides to every selected preset. + +Each renderer must run in a separate process. `--gallery` requires Pillow and +matplotlib; install those packages if they are absent. Gallery composition runs +after native renderer cleanup and uses the saved captures. + +## Outputs and direct-native verification + +Every render writes `_preset.png` and `results.json` under +`--output` (default `outputs/default-materials`). Use a separate directory per +variant or renderer to retain previous results. The report records the scene +recipe, renderer and DexSim version, capture settings, material source/revision, +serialized configuration, geometry choice, parameter readback and exclusions. +Unspecified configuration fields stay `null`; authored resource defaults are +not expanded into explicit overrides. + +`--gallery` additionally writes `.webp`, `default-materials.webp` +and nonempty built-in, basic-resource and advanced-resource galleries. + +```bash +# Compare the preset resolver with the original native definitions. +embodichain preview-material --all --headless --compare-native \ + --renderer rt --output outputs/material-parity +``` + +`--compare-native` also saves `*_native.png` and `*_native_repeat.png`, checks +parameter readback and compares the center crop with a repeat-render noise +control. A mismatch fails the command. This mode verifies authored presets and +cannot be combined with `--material-params`. + +The scene uses fixed colored cards, a checkerboard, rectangular lights and +exposure. Architecture/wood/stone/ground presets use a slab; other presets use +a sphere. `SoapBubble` has an explicit inward-facing inner shell. An optional +`--model /path/to/skin_face.glb` supplies a segmented face for `SkinHumanLight` +or a batch containing it; that model is not downloaded with the materials. + +The existing `examples/sim/rendering/default_materials.py` delegates to this +command and retains its headless default. Use the production CLI for window +preview or add `--no-headless` to the example. diff --git a/docs/source/overview/sim/sim_manager/rendering/materials.md b/docs/source/overview/sim/sim_manager/rendering/materials.md index f00b3301e..a7a36502d 100644 --- a/docs/source/overview/sim/sim_manager/rendering/materials.md +++ b/docs/source/overview/sim/sim_manager/rendering/materials.md @@ -241,7 +241,7 @@ creates a smaller inward-facing inner shell; the factory only creates materials. sheen, clearcoat and diffuse transmission. It does not implement random-walk subsurface scattering. The portrait preview uses an optional caller-provided segmented `SkinFaceDemo` GLB; that mesh is not included in the material archive. -Without `--model`, the example renders the same skin material on a sphere. +Without `--model`, the preview renders the same skin material on a sphere. ## Query, cache and reproduce @@ -263,21 +263,27 @@ NoRender retains declarations without downloading or loading native materials. ```bash # Offline catalog query. -python examples/sim/rendering/default_materials.py --list +embodichain preview-material --list # Only the six built-in parameter materials. -python examples/sim/rendering/default_materials.py \ - --all --source builtin --renderer rt --compare-native --size 640 --frames 6 --spp 12 --gallery +embodichain preview-material \ + --all --headless --source builtin --renderer rt --compare-native --size 640 --frames 6 --spp 12 --gallery # All 24 presets; add --model /path/to/skin_face.glb for the portrait sample. -python examples/sim/rendering/default_materials.py \ - --all --renderer rt --compare-native --size 640 --frames 6 --spp 12 --gallery +embodichain preview-material \ + --all --headless --renderer rt --compare-native --size 640 --frames 6 --spp 12 --gallery # Pre-download the 18 resource presets and the bubble helper. embodichain data download --name DefaultMaterials ``` -The preview saves lossless `*_preset.png`, `*_native.png` and +Use `embodichain preview-material --material GlassClear` for a native window, +or add `--headless` to export and exit. See the +{doc}`preview-material guide ` for parameter overrides, +compatible batch selection and output metadata. The existing example delegates +to the same implementation and retains its headless default. + +The native-comparison preview saves lossless `*_preset.png`, `*_native.png` and `*_native_repeat.png` images plus `results.json`. Direct-native comparisons use the original resource directory or the built-in native parameter definition, with the same geometry, camera, exposure and lights. Material parameter readback diff --git a/embodichain/_material_catalog.py b/embodichain/_material_catalog.py new file mode 100644 index 000000000..3c39a83e7 --- /dev/null +++ b/embodichain/_material_catalog.py @@ -0,0 +1,77 @@ +# ---------------------------------------------------------------------------- +# Copyright (c) 2021-2026 DexForce Technology Co., Ltd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ---------------------------------------------------------------------------- + +"""Offline catalog for the versioned DexSim default material collection.""" + +from __future__ import annotations + +import copy +import json +from functools import lru_cache +from importlib.resources import files +from typing import Any + +__all__ = ["list_default_materials", "get_default_material_info"] + + +@lru_cache(maxsize=1) +def _catalog() -> dict[str, Any]: + return json.loads( + files("embodichain") + .joinpath("data", "default_materials.json") + .read_text(encoding="utf-8") + ) + + +def list_default_materials() -> list[str]: + """List the 24 public presets without downloading assets or creating a World. + + Returns: + Preset names in catalog order. Auxiliary resources are omitted. + """ + return [item["name"] for item in _catalog()["materials"] if not item["auxiliary"]] + + +def get_default_material_info(name: str) -> dict[str, Any]: + """Read independent metadata for a public preset or auxiliary resource. + + Args: + name: Case-sensitive catalog name, including ``SoapBubbleInterior``. + + Returns: + Description, source, download requirement, supported renderers, + dependencies, geometry guidance and source revision. Built-in presets + also include their native parameter defaults and have no texture size. + Suggested resource sizes do not change UVs. + + Raises: + ValueError: The name is not in the built-in catalog. + """ + for item in _catalog()["materials"]: + if item["name"] == name: + result = copy.deepcopy(item) + result.setdefault("source", "resource") + result["requires_download"] = result["source"] != "builtin" + result["texture_resolution"] = ( + list(_catalog()["texture_resolution"]) + if result["requires_download"] + else None + ) + result.setdefault("revision", _catalog()["bundle"]["revision"]) + return result + raise ValueError( + f"Unknown default material {name!r}. Available presets: {', '.join(list_default_materials())}." + ) diff --git a/embodichain/cli/main.py b/embodichain/cli/main.py index 2161b35e9..5c0d92d41 100644 --- a/embodichain/cli/main.py +++ b/embodichain/cli/main.py @@ -72,6 +72,11 @@ class Command: target="embodichain.lab.scripts.preview_robot:cli", help="Preview a robot with control-part Gizmos and Viser joint controls.", ), + Command( + name="preview-material", + target="embodichain.lab.scripts.preview_material:cli", + help="Preview default materials or export rendered images and galleries.", + ), Command( name="run-task", target="embodichain.lab.scripts.run_task:cli", diff --git a/embodichain/data/default_materials.py b/embodichain/data/default_materials.py index 10e866007..e1b65391a 100644 --- a/embodichain/data/default_materials.py +++ b/embodichain/data/default_materials.py @@ -18,60 +18,10 @@ from __future__ import annotations -import copy -import json -from functools import lru_cache -from importlib.resources import files -from typing import Any +from embodichain._material_catalog import ( + _catalog, + get_default_material_info, + list_default_materials, +) __all__ = ["list_default_materials", "get_default_material_info"] - - -@lru_cache(maxsize=1) -def _catalog() -> dict[str, Any]: - return json.loads( - files("embodichain.data") - .joinpath("default_materials.json") - .read_text(encoding="utf-8") - ) - - -def list_default_materials() -> list[str]: - """List the 24 public presets without downloading assets or creating a World. - - Returns: - Preset names in catalog order. Auxiliary resources are omitted. - """ - return [item["name"] for item in _catalog()["materials"] if not item["auxiliary"]] - - -def get_default_material_info(name: str) -> dict[str, Any]: - """Read independent metadata for a public preset or auxiliary resource. - - Args: - name: Case-sensitive catalog name, including ``SoapBubbleInterior``. - - Returns: - Description, source, download requirement, supported renderers, - dependencies, geometry guidance and source revision. Built-in presets - also include their native parameter defaults and have no texture size. - Suggested resource sizes do not change UVs. - - Raises: - ValueError: The name is not in the built-in catalog. - """ - for item in _catalog()["materials"]: - if item["name"] == name: - result = copy.deepcopy(item) - result.setdefault("source", "resource") - result["requires_download"] = result["source"] != "builtin" - result["texture_resolution"] = ( - list(_catalog()["texture_resolution"]) - if result["requires_download"] - else None - ) - result.setdefault("revision", _catalog()["bundle"]["revision"]) - return result - raise ValueError( - f"Unknown default material {name!r}. Available presets: {', '.join(list_default_materials())}." - ) diff --git a/embodichain/lab/scripts/preview_material.py b/embodichain/lab/scripts/preview_material.py new file mode 100644 index 000000000..cce6a101f --- /dev/null +++ b/embodichain/lab/scripts/preview_material.py @@ -0,0 +1,740 @@ +# ---------------------------------------------------------------------------- +# Copyright (c) 2021-2026 DexForce Technology Co., Ltd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ---------------------------------------------------------------------------- + +"""Preview default material presets in a native window or export reference images. + +Help and catalog queries do not initialize DexSim or download material assets. +Scene geometry, lighting and cameras belong to this command; the material factory +only loads material definitions. +""" + +from __future__ import annotations + +import argparse +from collections.abc import Sequence +import json +from pathlib import Path +import sys +from tempfile import TemporaryDirectory +from time import perf_counter +import traceback +from typing import Any, TYPE_CHECKING + +if TYPE_CHECKING: + from embodichain.lab.sim.material import VisualMaterialCfg + +__all__ = ["main", "cli"] + + +def _positive_integer(value: str) -> int: + number = int(value) + if number < 1: + raise argparse.ArgumentTypeError("must be a positive integer") + return number + + +def _material_params(value: str) -> dict[str, Any]: + try: + params = json.loads(value) + except ValueError as error: + raise argparse.ArgumentTypeError( + "--material-params must be a JSON object" + ) from error + if not isinstance(params, dict): + raise argparse.ArgumentTypeError("--material-params must be a JSON object") + if {"uid", "preset"} & params.keys(): + raise argparse.ArgumentTypeError( + "Select the preset with --material; preview UIDs are command-owned" + ) + return params + + +def _create_parser() -> argparse.ArgumentParser: + parser = argparse.ArgumentParser( + prog="embodichain preview-material", + description=__doc__, + ) + selection = parser.add_mutually_exclusive_group() + selection.add_argument( + "--list", + action="store_true", + help="Print offline catalog metadata as JSON lines and exit.", + ) + selection.add_argument( + "--all", + action="store_true", + help="Export all selected presets without opening a window.", + ) + selection.add_argument( + "--material", help="Exact preset name; defaults to GlassClear." + ) + parser.add_argument( + "--source", + choices=("all", "builtin", "resource"), + default="all", + help="Filter --list or --all by material source.", + ) + parser.add_argument( + "--renderer", + choices=("rt", "hybrid", "fast-rt"), + default="rt", + help="Native renderer; rt (OfflineRT) supports the full catalog.", + ) + parser.add_argument( + "--material-params", + type=_material_params, + default={}, + help="VisualMaterialCfg overrides as JSON; advanced fields belong inside parameters.", + ) + parser.add_argument( + "--compatible-only", + action="store_true", + help="With --all, explicitly skip incompatible presets and report their names.", + ) + parser.add_argument( + "--headless", + action=argparse.BooleanOptionalAction, + default=False, + help="Export images and exit without opening a native window.", + ) + parser.add_argument( + "--max-steps", + type=_positive_integer, + help="Bound native-window preview updates; otherwise exit with Ctrl+C.", + ) + parser.add_argument( + "--gpu-id", + "--gpu_id", + type=int, + default=0, + help="GPU index used by DexSim rendering.", + ) + parser.add_argument( + "--compare-native", + action="store_true", + help="Compare unmodified presets with direct native loading and fail on a mismatch.", + ) + parser.add_argument( + "--gallery", + action="store_true", + help="Export individual WebP images and grouped galleries (Pillow and matplotlib required).", + ) + parser.add_argument( + "--model", + type=Path, + help="Optional segmented skin face GLB; not part of the material package.", + ) + parser.add_argument( + "--output", + type=Path, + default=Path("outputs/default-materials"), + help="Directory for PNG captures, results.json and optional WebP galleries.", + ) + parser.add_argument( + "--size", + type=_positive_integer, + default=320, + help="Square capture resolution in pixels.", + ) + parser.add_argument( + "--frames", + type=_positive_integer, + default=4, + help="Accumulation frames per capture.", + ) + parser.add_argument( + "--spp", + type=_positive_integer, + default=16, + help="DexSim render iterations per frame.", + ) + return parser + + +def _select_materials( + args: argparse.Namespace, +) -> tuple[list[VisualMaterialCfg], list[dict[str, str]]]: + """Resolve configurations and renderer requirements before constructing a World.""" + from embodichain._material_catalog import ( + get_default_material_info, + list_default_materials, + ) + from embodichain.lab.sim import VisualMaterialCfg + from embodichain.lab.sim._material_presets import ( + _asset_desc_from_cfg, + _validate_backend, + ) + + if min(args.size, args.frames, args.spp) < 1: + raise ValueError("size, frames and spp must be positive") + if args.gpu_id < 0: + raise ValueError("gpu-id must be nonnegative") + if args.compatible_only and not args.all: + raise ValueError("--compatible-only requires --all") + if args.source != "all" and not args.all: + raise ValueError("--source requires --list or --all") + if args.max_steps is not None and (args.headless or args.all): + raise ValueError( + "--max-steps applies to native-window previews; remove --headless/--all" + ) + if args.compare_native and args.material_params: + raise ValueError( + "--compare-native compares authored presets; remove --material-params" + ) + names = ( + [ + name + for name in list_default_materials() + if args.source == "all" + or get_default_material_info(name)["source"] == args.source + ] + if args.all + else [args.material or "GlassClear"] + ) + if args.model is not None: + args.model = args.model.expanduser().resolve() + if "SkinHumanLight" not in names: + raise ValueError("--model requires SkinHumanLight or a batch containing it") + if not args.model.is_file(): + raise FileNotFoundError(args.model) + configs, skipped = [], [] + for name in names: + cfg = VisualMaterialCfg.from_preset( + name, uid=f"preset_{name}", **args.material_params + ) + desc = _asset_desc_from_cfg(cfg, cfg.uid) + try: + _validate_backend(desc, args.renderer) + except ValueError as error: + if not args.compatible_only: + raise ValueError( + f"{error} Use --all --compatible-only to explicitly select supported presets." + ) from error + skipped.append({"name": name, "reason": str(error)}) + else: + configs.append(cfg) + if not configs: + raise ValueError( + "No selected presets support this renderer and parameter combination" + ) + return configs, skipped + + +def _write_galleries(output: Path, rows: list[dict[str, Any]], renderer: str) -> None: + """Export captured images without changing their rendering settings. + + Args: + output: Directory containing the preset PNG captures. + rows: Material records from the completed rendering run. + renderer: Renderer name shown in gallery captions. + """ + import math + from importlib.metadata import version + import matplotlib + from PIL import Image + from embodichain.data import get_default_material_info + + matplotlib.use("Agg") + from matplotlib import pyplot as plt + + for row in rows: + with Image.open(output / f"{row['name']}_preset.png") as capture: + capture.save(output / f"{row['name']}.webp", quality=92) + groups = { + "default-materials": (rows, 6), + "builtin-materials": ([row for row in rows if row["source"] == "builtin"], 3), + "surface-materials": ( + [ + row + for row in rows + if row["source"] == "resource" + and len(get_default_material_info(row["name"])["renderers"]) > 1 + ], + 5, + ), + "advanced-materials": ( + [ + row + for row in rows + if row["source"] == "resource" + and get_default_material_info(row["name"])["renderers"] == ["rt"] + ], + 4, + ), + } + for filename, (records, columns) in groups.items(): + if not records: + continue + columns = min(columns, len(records)) + count_rows = math.ceil(len(records) / columns) + fig, axes = plt.subplots( + count_rows, + columns, + figsize=(3.2 * columns, 3.5 * count_rows), + squeeze=False, + facecolor="#171b20", + ) + for axis in axes.flat: + axis.axis("off") + for axis, row in zip(axes.flat, records): + with Image.open(output / f"{row['name']}_preset.png") as capture: + axis.imshow(capture.copy()) + axis.set_title(row["name"], fontsize=11, color="white", pad=6) + renderer_label = {"rt": "OfflineRT", "hybrid": "Hybrid", "fast-rt": "FastRT"}[ + renderer + ] + fig.suptitle( + f"Default materials · DexSim {version('dexsim-engine')} · {renderer_label}", + color="white", + fontsize=15, + ) + fig.tight_layout(rect=(0, 0, 1, 0.95)) + fig.savefig( + output / f"{filename}.webp", + dpi=160, + facecolor=fig.get_facecolor(), + pil_kwargs={"quality": 90}, + ) + plt.close(fig) + + +def _render_materials( + args: argparse.Namespace, + configs: list[VisualMaterialCfg], + skipped: list[dict[str, str]], +) -> list[dict[str, Any]]: + """Capture one fixed studio scene, optionally retaining its native viewer.""" + from embodichain.data import get_default_material_info + import cv2 + import numpy as np + import dexsim.render as render + from importlib.metadata import version + from embodichain.lab.sim import ( + SimulationManager, + SimulationManagerCfg, + VisualMaterialCfg, + ) + from embodichain.lab.sim.cfg import DenoisingCfg, RenderCfg + from embodichain.data.assets.materials import DefaultMaterials + + args.output.mkdir(parents=True, exist_ok=True) + sim = SimulationManager( + SimulationManagerCfg( + headless=True, + gpu_id=args.gpu_id, + device="cpu", + scene_node_capacity=256, + startup_summary="off", + render_cfg=RenderCfg( + renderer=args.renderer, + spp=args.spp, + min_bounces=3, + max_bounces=14, + tone_mapping_enabled=True, + tone_mapping_exposure=0.9, + denoising=DenoisingCfg(window="optix", offscreen="optix"), + ), + ) + ) + world, env = sim.get_world(), sim.get_env() + camera = sample = inner = native = material = None + reference_files = None + rows: list[dict[str, Any]] = [] + try: + sim.enable_physics(False) + sim.set_emission_light([0.85, 0.9, 1.0], 24.0) + # Independent, fixed scene: colored cards reveal transmission, broad + # rectangular lights reveal roughness and normal-map direction. + for index, (x, color) in enumerate( + ( + (-0.85, [0.8, 0.06, 0.02, 1]), + (0.0, [0.8, 0.8, 0.8, 1]), + (0.85, [0.02, 0.18, 0.8, 1]), + ) + ): + card = env.create_cube(0.7, 0.04, 1.9) + card.set_name(f"preview_card_{index}") + card.set_location(x, 1.1, 0.95) + card_material = sim.create_visual_material( + VisualMaterialCfg(uid=f"card_{index}", base_color=color, roughness=0.6) + ) + card.set_material(card_material.inst.mat) + if index == 1: + yy, xx = np.indices((256, 256)) + checks = ((xx // 32 + yy // 32) % 2)[..., None] + pixels = np.where(checks, [225, 225, 225], [45, 45, 45]).astype( + np.uint8 + ) + texture = env.create_color_texture(pixels, has_alpha=False) + card_material.inst.set_base_color_texture(texture_obj=texture) + for name, location, direction, color, power in ( + ("key", (-2, -2, 3), (2, 2, -2), (1, 0.85, 0.7), 90), + ("fill", (2, 0, 3), (-2, 0, -2), (0.6, 0.8, 1), 60), + ): + light = env.create_light(name, render.LightType.RECT) + light.set_location(*location) + light.set_direction(*direction) + light.set_color(*color) + light.set_intensity(power) + light.set_rect_wh(1.8, 1.1) + camera = env.create_camera( + "material_camera", args.size, args.size, True, render.ViewFlags.COLOR + ) + camera.set_near(0.02) + camera.set_far(20) + focal = args.size * 1.4 + camera.set_intrinsic( + np.array( + [[focal, 0, args.size / 2], [0, focal, args.size / 2], [0, 0, 1]], + dtype=np.float32, + ) + ) + camera.look_at([1.5, -3.8, 1.8], [0, 0, 0.8], [0, 0, 1]) + camera.open_camera() + source = None + reference_files = ( + TemporaryDirectory(prefix="ec-material-reference-") + if args.compare_native + else None + ) + for cfg in configs: + name = cfg.preset + info = get_default_material_info(name) + started = perf_counter() + material = sim.create_visual_material(cfg) + load_ms = (perf_counter() - started) * 1000 + if sample is not None: + env.remove_actor(sample) + if inner is not None: + env.remove_actor(inner) + inner = None + skin_segments = None + if name == "SkinHumanLight" and args.model: + if not args.model.is_file(): + raise FileNotFoundError(args.model) + sample = env.load_actor(str(args.model.resolve()), False, False) + env.attach(sample.node) + world.update(0.0) + body = sample.get_render_body() + skin_segments = [ + i + for i in range(body.get_mesh_count()) + if "skin" in body.get_segment_name(i).lower() + ] + if ( + not skin_segments + and body.get_mesh_count() == 8 + and all(not body.get_segment_name(i) for i in range(8)) + ): + skin_segments = [0, 1] # Explicit SkinFaceDemo GLB-order fallback. + if not skin_segments: + raise ValueError("The supplied face model has no Skin_* segments.") + camera.look_at([0.19, -0.69, 0.165], [0, 0, 0.10], [0, 0, 1]) + else: + category = get_default_material_info(name)["category"] + sample = ( + env.create_cube(1.3, 0.16, 1.3) + if category in {"architecture", "wood", "stone", "ground"} + else env.create_sphere(0.66, 96, 3, 2) + ) + sample.set_location(0, 0, 0.8) + sample.set_name(f"preview_{name}") + camera.look_at([1.5, -3.8, 1.8], [0, 0, 0.8], [0, 0, 1]) + if name == "SoapBubble": + # Geometry stays here: a smaller reversed-axis shell supplies + # the air-facing interface. UVs and nominal sizes are untouched. + inner = env.create_sphere(0.66, 96, 3, 2) + inner.set_name("preview_inner_shell") + inner.set_location(0, 0, 0.8) + inner.set_scale(-0.975, 0.975, 0.975) + + def bind(instance: Any, inner_instance: Any | None = None) -> None: + if skin_segments is None: + sample.set_material(instance) + else: + for segment in skin_segments: + sample.get_render_body().set_mesh_material(segment, instance) + if inner is not None: + inner.set_material(inner_instance) + + def capture(label: str) -> Any: + for _ in range(args.frames): + world.update(0.0) + camera.render(render.ViewFlags.COLOR, render.ViewFlags.COLOR, False) + rgb = np.ascontiguousarray(camera.get_rgb_map()[..., :3]) + saved = cv2.imwrite( + str(args.output / f"{name}_{label}.png"), + cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR), + ) + if not saved: + raise RuntimeError( + f"Cannot save {name}_{label}.png to {args.output}." + ) + return rgb + + inner_material = ( + sim.create_visual_material( + VisualMaterialCfg.from_preset( + "SoapBubbleInterior", uid="bubble_inner" + ) + ) + if inner is not None + else None + ) + bind(material.inst.mat, inner_material.inst.mat if inner_material else None) + packaged = capture("preset") + row: dict[str, Any] = { + "name": name, + "load_ms": load_ms, + "ior": material.inst.ior, + "roughness": material.inst.roughness, + "metallic": material.inst.mat.get_metallic(), + "transmission": material.inst.mat.get_transmission(), + "base_color": material.inst.base_color, + "native_match": None, + "source": info["source"], + "revision": info["revision"], + "config": cfg.to_dict(), + "geometry": ( + "segmented-face" + if skin_segments is not None + else ( + "double-shell" + if inner is not None + else ( + "slab" + if info["category"] + in {"architecture", "wood", "stone", "ground"} + else "sphere" + ) + ) + ), + } + if args.compare_native: + if info["source"] == "builtin": + reference_path = Path(reference_files.name) / name + reference_path.mkdir() + # Direct native baseline uses the authored definition, + # without the runtime resolver or Python default setters. + (reference_path / "material.json").write_text( + json.dumps( + { + "schema_version": 1, + "parameters": info["parameters"], + "textures": {}, + } + ), + encoding="utf-8", + ) + else: + if source is None: + source = DefaultMaterials() + reference_path = Path(source.get_material_path(name)) + native = env.load_material(str(reference_path), f"reference_{name}") + native_inner = ( + env.load_material( + source.get_material_path("SoapBubbleInterior"), + "reference_inner", + ) + if inner is not None + else None + ) + bind( + native.get_inst(), native_inner.get_inst() if native_inner else None + ) + reference = capture("native") + repeat = capture("native_repeat") + crop = np.s_[ + args.size // 4 : 3 * args.size // 4, + args.size // 4 : 3 * args.size // 4, + :, + ] + difference = float( + np.sqrt( + np.mean( + ( + packaged[crop].astype(float) + - reference[crop].astype(float) + ) + ** 2 + ) + ) + ) + noise = float( + np.sqrt( + np.mean( + (repeat[crop].astype(float) - reference[crop].astype(float)) + ** 2 + ) + ) + ) + row.update( + rmse=difference, + native_repeat_rmse=noise, + threshold=max(3.0, 3 * noise + 0.5), + native_match=difference <= max(3.0, 3 * noise + 0.5), + ) + for getter in ( + "get_ior", + "get_roughness", + "get_metallic", + "get_transmission", + "get_base_color", + ): + actual, expected = ( + getattr(material.inst.mat, getter)(), + getattr(native.get_inst(), getter)(), + ) + matches = ( + expected is actual + if expected is None or actual is None + else np.allclose(actual, expected, atol=1e-5) + ) + if not matches: + raise AssertionError((name, getter, actual, expected)) + if not row["native_match"]: + raise AssertionError(row) + bind(material.inst.mat, inner_material.inst.mat if inner_material else None) + rows.append(row) + print(json.dumps(row), flush=True) + report = { + "schema_version": 1, + "scene": "material-studio-v1", + "renderer": args.renderer, + "dexsim": version("dexsim-engine"), + "size": args.size, + "frames": args.frames, + "spp": args.spp, + "materials": rows, + "skipped_materials": skipped, + "model": str(args.model) if args.model is not None else None, + } + (args.output / "results.json").write_text( + json.dumps(report, indent=2) + "\n", encoding="utf-8" + ) + if not args.headless and not args.all: + from embodichain.lab.scripts._preview import _run_preview_loop + + sim.prepare() + if not sim.open_window(): + raise RuntimeError( + "The native material-preview window could not be opened" + ) + eye, target = ( + ([0.19, -0.69, 0.165], [0, 0, 0.10]) + if args.model is not None + else ([1.5, -3.8, 1.8], [0, 0, 0.8]) + ) + world.get_windows().set_look_at(eye, target, [0, 0, 1]) + print( + "Material preview ready. Press Ctrl+C to exit.", + file=sys.stderr, + flush=True, + ) + _run_preview_loop(sim, None, interactive=True, max_steps=args.max_steps) + finally: + try: + if camera is not None: + camera.close_camera() + finally: + try: + sim.destroy(exit_process=False) + finally: + if reference_files is not None: + reference_files.cleanup() + return rows + + +def main(args: argparse.Namespace) -> None: + """Query or preview default materials using the production preset resolver. + + Args: + args: Parsed material-preview arguments. Batch mode always exports + without a window; single previews use one unless headless is set. + + Raises: + ValueError: Selection, override or renderer requirements are invalid. + OSError: A supplied model or output directory cannot be accessed. + RuntimeError: Native rendering or window creation fails. + AssertionError: A requested direct-native comparison fails. + """ + from embodichain._material_catalog import ( + get_default_material_info, + list_default_materials, + ) + + if args.list: + for name in list_default_materials(): + info = get_default_material_info(name) + if args.source == "all" or info["source"] == args.source: + print(json.dumps(info)) + return + configs, skipped = _select_materials(args) + for item in skipped: + print(f"Skipping {item['name']}: {item['reason']}", file=sys.stderr) + from embodichain.lab.sim import SimulationManager + + failure: BaseException | None = None + try: + rows = _render_materials(args, configs, skipped) + except BaseException as error: + # Native views in unwound frames must be released before deferred World + # destruction. Preserve the original error while clearing its views. + pending = [error] + seen: set[int] = set() + while pending: + current = pending.pop() + if id(current) in seen: + continue + seen.add(id(current)) + traceback.clear_frames(current.__traceback__) + pending.extend( + cause + for cause in (current.__cause__, current.__context__) + if cause is not None + ) + failure = error.with_traceback(None) + try: + SimulationManager.flush_cleanup_queue() + except BaseException as error: + if failure is None: + raise + print( + f"Deferred preview cleanup failed after {failure!r}: {error!r}", + file=sys.stderr, + ) + if failure is not None: + raise failure + if args.gallery: + _write_galleries(args.output, rows, args.renderer) + + +def cli(argv: Sequence[str] | None = None) -> None: + """Run the material-preview command. + + Args: + argv: Arguments excluding the command name, or None for sys.argv. + """ + parser = _create_parser() + args = parser.parse_args(argv) + try: + main(args) + except (ValueError, TypeError, OSError) as error: + parser.error(str(error)) + + +if __name__ == "__main__": + cli() diff --git a/examples/sim/rendering/default_materials.py b/examples/sim/rendering/default_materials.py index da06b6e2c..bc1240533 100644 --- a/examples/sim/rendering/default_materials.py +++ b/examples/sim/rendering/default_materials.py @@ -14,482 +14,18 @@ # limitations under the License. # ---------------------------------------------------------------------------- -"""Preview packaged materials and compare them with direct native loading. +"""Export default material previews through the production preview-material CLI. -Run ``python examples/sim/rendering/default_materials.py --list`` for offline -metadata. Use ``--all --compare-native --renderer rt`` for optical qualification, -and repeat with ``hybrid`` / ``fast-rt`` for the compatible materials. Each -renderer must run in a separate process. Scene geometry, lighting and cameras -belong to this example; the material factory only loads material definitions. +This example retains its headless default. Use ``embodichain preview-material`` +for a native window, or pass ``--no-headless`` here. Use ``--all --compatible-only`` +when intentionally exporting only the presets supported by Hybrid or FastRT. """ from __future__ import annotations -import argparse -import json -from pathlib import Path -from tempfile import TemporaryDirectory -from time import perf_counter -from typing import Any - - -def build_parser() -> argparse.ArgumentParser: - """Build preview options before importing simulator dependencies.""" - parser = argparse.ArgumentParser(description=__doc__) - parser.add_argument("--list", action="store_true") - parser.add_argument("--all", action="store_true") - parser.add_argument( - "--source", - choices=("all", "builtin", "resource"), - default="all", - help="Filter --all by built-in parameters or downloadable resources.", - ) - parser.add_argument("--material", default="GlassClear") - parser.add_argument("--renderer", choices=("rt", "hybrid", "fast-rt"), default="rt") - parser.add_argument("--compare-native", action="store_true") - parser.add_argument( - "--gallery", - action="store_true", - help="Export WebP previews and grouped galleries.", - ) - parser.add_argument( - "--model", - type=Path, - help="Optional segmented skin face GLB; not part of the material package.", - ) - parser.add_argument( - "--output", type=Path, default=Path("outputs/default-materials") - ) - parser.add_argument("--size", type=int, default=320) - parser.add_argument("--frames", type=int, default=4) - parser.add_argument("--spp", type=int, default=16) - return parser - - -def write_galleries(output: Path, rows: list[dict[str, Any]], renderer: str) -> None: - """Export captured images without changing their rendering settings. - - Args: - output: Directory containing the preset PNG captures. - rows: Material records from the completed rendering run. - renderer: Renderer name shown in gallery captions. - """ - import math - from importlib.metadata import version - import matplotlib - from PIL import Image - from embodichain.data import get_default_material_info - - matplotlib.use("Agg") - from matplotlib import pyplot as plt - - for row in rows: - with Image.open(output / f"{row['name']}_preset.png") as capture: - capture.save(output / f"{row['name']}.webp", quality=92) - groups = { - "default-materials": (rows, 6), - "builtin-materials": ([row for row in rows if row["source"] == "builtin"], 3), - "surface-materials": ( - [ - row - for row in rows - if row["source"] == "resource" - and len(get_default_material_info(row["name"])["renderers"]) > 1 - ], - 5, - ), - "advanced-materials": ( - [ - row - for row in rows - if row["source"] == "resource" - and get_default_material_info(row["name"])["renderers"] == ["rt"] - ], - 4, - ), - } - for filename, (records, columns) in groups.items(): - if not records: - continue - columns = min(columns, len(records)) - count_rows = math.ceil(len(records) / columns) - fig, axes = plt.subplots( - count_rows, - columns, - figsize=(3.2 * columns, 3.5 * count_rows), - squeeze=False, - facecolor="#171b20", - ) - for axis in axes.flat: - axis.axis("off") - for axis, row in zip(axes.flat, records): - with Image.open(output / f"{row['name']}_preset.png") as capture: - axis.imshow(capture.copy()) - axis.set_title(row["name"], fontsize=11, color="white", pad=6) - renderer_label = {"rt": "OfflineRT", "hybrid": "Hybrid", "fast-rt": "FastRT"}[ - renderer - ] - fig.suptitle( - f"Default materials · DexSim {version('dexsim-engine')} · {renderer_label}", - color="white", - fontsize=15, - ) - fig.tight_layout(rect=(0, 0, 1, 0.95)) - fig.savefig( - output / f"{filename}.webp", - dpi=160, - facecolor=fig.get_facecolor(), - pil_kwargs={"quality": 90}, - ) - plt.close(fig) - - -def main(args: argparse.Namespace) -> None: - """Render one material or the renderer-compatible catalog with fixed settings.""" - from embodichain.data import get_default_material_info, list_default_materials - - if args.list: - for name in list_default_materials(): - print(json.dumps(get_default_material_info(name))) - return - if min(args.size, args.frames, args.spp) < 1: - raise ValueError("size, frames and spp must be positive") - names = ( - [ - name - for name in list_default_materials() - if args.renderer in get_default_material_info(name)["renderers"] - and ( - args.source == "all" - or get_default_material_info(name)["source"] == args.source - ) - ] - if args.all - else [args.material] - ) - # Validate a single incompatible request through production creation rather - # than changing renderers or silently excluding it. - import cv2 - import numpy as np - import dexsim.render as render - from importlib.metadata import version - from embodichain.lab.sim import ( - SimulationManager, - SimulationManagerCfg, - VisualMaterialCfg, - ) - from embodichain.lab.sim.cfg import DenoisingCfg, RenderCfg - from embodichain.data.assets.materials import DefaultMaterials - - args.output.mkdir(parents=True, exist_ok=True) - sim = SimulationManager( - SimulationManagerCfg( - headless=True, - device="cpu", - scene_node_capacity=256, - startup_summary="off", - render_cfg=RenderCfg( - renderer=args.renderer, - spp=args.spp, - min_bounces=3, - max_bounces=14, - tone_mapping_enabled=True, - tone_mapping_exposure=0.9, - denoising=DenoisingCfg(window="optix", offscreen="optix"), - ), - ) - ) - world, env = sim.get_world(), sim.get_env() - camera = sample = inner = native = material = None - reference_files = None - rows: list[dict[str, Any]] = [] - try: - sim.enable_physics(False) - sim.set_emission_light([0.85, 0.9, 1.0], 24.0) - # Independent, fixed scene: colored cards reveal transmission, broad - # rectangular lights reveal roughness and normal-map direction. - for index, (x, color) in enumerate( - ( - (-0.85, [0.8, 0.06, 0.02, 1]), - (0.0, [0.8, 0.8, 0.8, 1]), - (0.85, [0.02, 0.18, 0.8, 1]), - ) - ): - card = env.create_cube(0.7, 0.04, 1.9) - card.set_name(f"preview_card_{index}") - card.set_location(x, 1.1, 0.95) - card_material = sim.create_visual_material( - VisualMaterialCfg(uid=f"card_{index}", base_color=color, roughness=0.6) - ) - card.set_material(card_material.inst.mat) - if index == 1: - yy, xx = np.indices((256, 256)) - checks = ((xx // 32 + yy // 32) % 2)[..., None] - pixels = np.where(checks, [225, 225, 225], [45, 45, 45]).astype( - np.uint8 - ) - texture = env.create_color_texture(pixels, has_alpha=False) - card_material.inst.set_base_color_texture(texture_obj=texture) - for name, location, direction, color, power in ( - ("key", (-2, -2, 3), (2, 2, -2), (1, 0.85, 0.7), 90), - ("fill", (2, 0, 3), (-2, 0, -2), (0.6, 0.8, 1), 60), - ): - light = env.create_light(name, render.LightType.RECT) - light.set_location(*location) - light.set_direction(*direction) - light.set_color(*color) - light.set_intensity(power) - light.set_rect_wh(1.8, 1.1) - camera = env.create_camera( - "material_camera", args.size, args.size, True, render.ViewFlags.COLOR - ) - camera.set_near(0.02) - camera.set_far(20) - focal = args.size * 1.4 - camera.set_intrinsic( - np.array( - [[focal, 0, args.size / 2], [0, focal, args.size / 2], [0, 0, 1]], - dtype=np.float32, - ) - ) - camera.look_at([1.5, -3.8, 1.8], [0, 0, 0.8], [0, 0, 1]) - camera.open_camera() - source = None - reference_files = ( - TemporaryDirectory(prefix="ec-material-reference-") - if args.compare_native - else None - ) - for name in names: - info = get_default_material_info(name) - started = perf_counter() - material = sim.create_visual_material( - VisualMaterialCfg.from_preset(name, uid=f"preset_{name}") - ) - load_ms = (perf_counter() - started) * 1000 - if sample is not None: - env.remove_actor(sample) - if inner is not None: - env.remove_actor(inner) - inner = None - skin_segments = None - if name == "SkinHumanLight" and args.model: - if not args.model.is_file(): - raise FileNotFoundError(args.model) - sample = env.load_actor(str(args.model.resolve()), False, False) - env.attach(sample.node) - world.update(0.0) - body = sample.get_render_body() - skin_segments = [ - i - for i in range(body.get_mesh_count()) - if "skin" in body.get_segment_name(i).lower() - ] - if ( - not skin_segments - and body.get_mesh_count() == 8 - and all(not body.get_segment_name(i) for i in range(8)) - ): - skin_segments = [0, 1] # Explicit SkinFaceDemo GLB-order fallback. - if not skin_segments: - raise ValueError("The supplied face model has no Skin_* segments.") - camera.look_at([0.19, -0.69, 0.165], [0, 0, 0.10], [0, 0, 1]) - else: - category = get_default_material_info(name)["category"] - sample = ( - env.create_cube(1.3, 0.16, 1.3) - if category in {"architecture", "wood", "stone", "ground"} - else env.create_sphere(0.66, 96, 3, 2) - ) - sample.set_location(0, 0, 0.8) - sample.set_name(f"preview_{name}") - camera.look_at([1.5, -3.8, 1.8], [0, 0, 0.8], [0, 0, 1]) - if name == "SoapBubble": - # Geometry stays here: a smaller reversed-axis shell supplies - # the air-facing interface. UVs and nominal sizes are untouched. - inner = env.create_sphere(0.66, 96, 3, 2) - inner.set_name("preview_inner_shell") - inner.set_location(0, 0, 0.8) - inner.set_scale(-0.975, 0.975, 0.975) - - def bind(instance: Any, inner_instance: Any | None = None) -> None: - if skin_segments is None: - sample.set_material(instance) - else: - for segment in skin_segments: - sample.get_render_body().set_mesh_material(segment, instance) - if inner is not None: - inner.set_material(inner_instance) - - def capture(label: str) -> Any: - for _ in range(args.frames): - world.update(0.0) - camera.render(render.ViewFlags.COLOR, render.ViewFlags.COLOR, False) - rgb = np.ascontiguousarray(camera.get_rgb_map()[..., :3]) - saved = cv2.imwrite( - str(args.output / f"{name}_{label}.png"), - cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR), - ) - if not saved: - raise RuntimeError( - f"Cannot save {name}_{label}.png to {args.output}." - ) - return rgb - - inner_material = ( - sim.create_visual_material( - VisualMaterialCfg.from_preset( - "SoapBubbleInterior", uid="bubble_inner" - ) - ) - if inner is not None - else None - ) - bind(material.inst.mat, inner_material.inst.mat if inner_material else None) - packaged = capture("preset") - row: dict[str, Any] = { - "name": name, - "load_ms": load_ms, - "ior": material.inst.ior, - "roughness": material.inst.roughness, - "metallic": material.inst.mat.get_metallic(), - "transmission": material.inst.mat.get_transmission(), - "base_color": material.inst.base_color, - "native_match": None, - "source": info["source"], - } - if args.compare_native: - if info["source"] == "builtin": - reference_path = Path(reference_files.name) / name - reference_path.mkdir() - # Direct native baseline uses the authored definition, - # without the runtime resolver or Python default setters. - (reference_path / "material.json").write_text( - json.dumps( - { - "schema_version": 1, - "parameters": info["parameters"], - "textures": {}, - } - ), - encoding="utf-8", - ) - else: - if source is None: - source = DefaultMaterials() - reference_path = Path(source.get_material_path(name)) - native = env.load_material(str(reference_path), f"reference_{name}") - native_inner = ( - env.load_material( - source.get_material_path("SoapBubbleInterior"), - "reference_inner", - ) - if inner is not None - else None - ) - bind( - native.get_inst(), native_inner.get_inst() if native_inner else None - ) - reference = capture("native") - repeat = capture("native_repeat") - crop = np.s_[ - args.size // 4 : 3 * args.size // 4, - args.size // 4 : 3 * args.size // 4, - :, - ] - difference = float( - np.sqrt( - np.mean( - ( - packaged[crop].astype(float) - - reference[crop].astype(float) - ) - ** 2 - ) - ) - ) - noise = float( - np.sqrt( - np.mean( - (repeat[crop].astype(float) - reference[crop].astype(float)) - ** 2 - ) - ) - ) - row.update( - rmse=difference, - native_repeat_rmse=noise, - threshold=max(3.0, 3 * noise + 0.5), - native_match=difference <= max(3.0, 3 * noise + 0.5), - ) - for getter in ( - "get_ior", - "get_roughness", - "get_metallic", - "get_transmission", - "get_base_color", - ): - actual, expected = ( - getattr(material.inst.mat, getter)(), - getattr(native.get_inst(), getter)(), - ) - if expected is None or actual is None: - assert expected is actual, (name, getter, actual, expected) - else: - assert np.allclose(actual, expected, atol=1e-5), ( - name, - getter, - actual, - expected, - ) - assert row["native_match"], row - rows.append(row) - print(json.dumps(row), flush=True) - # Exercise every unsupported advanced preset before native loading in - # real-time processes, including an advanced variation of a basic one. - rejected = [] - if args.renderer != "rt": - for name in list_default_materials(): - if args.renderer not in get_default_material_info(name)["renderers"]: - try: - sim.create_visual_material(VisualMaterialCfg.from_preset(name)) - except ValueError: - rejected.append(name) - else: - raise AssertionError(f"Backend accepted advanced preset {name}") - try: - sim.create_visual_material( - VisualMaterialCfg.from_preset( - "BrickRed", parameters={"clearcoat": 0.0} - ) - ) - except ValueError: - rejected.append("BrickRed:clearcoat") - else: - raise AssertionError("Backend accepted an advanced parameter variation") - report = { - "renderer": args.renderer, - "dexsim": version("dexsim-engine"), - "size": args.size, - "frames": args.frames, - "spp": args.spp, - "materials": rows, - "backend_rejections": rejected, - } - (args.output / "results.json").write_text( - json.dumps(report, indent=2) + "\n", encoding="utf-8" - ) - finally: - if camera is not None: - camera.close_camera() - sim.destroy(exit_process=False) - del sample, inner, native, material, camera - if reference_files is not None: - reference_files.cleanup() - SimulationManager.flush_cleanup_queue() - if args.gallery: - write_galleries(args.output, rows, args.renderer) +import sys +from embodichain.lab.scripts.preview_material import cli if __name__ == "__main__": - main(build_parser().parse_args()) + cli(["--headless", *sys.argv[1:]]) diff --git a/tests/lab/scripts/test_preview_material.py b/tests/lab/scripts/test_preview_material.py new file mode 100644 index 000000000..63f5f14be --- /dev/null +++ b/tests/lab/scripts/test_preview_material.py @@ -0,0 +1,233 @@ +# ---------------------------------------------------------------------------- +# Copyright (c) 2021-2026 DexForce Technology Co., Ltd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ---------------------------------------------------------------------------- + +"""Material-preview CLI selection, offline discovery and resource boundaries.""" + +from __future__ import annotations + +import json +import os +from pathlib import Path +import subprocess +import sys + +import pytest + +from embodichain.lab.scripts import preview_material + +pytestmark = pytest.mark.no_sim +_ROOT = Path(__file__).resolve().parents[3] + + +@pytest.mark.parametrize("option", ["--help", "--list"]) +def test_catalog_commands_need_no_native_imports_or_downloads(tmp_path, option) -> None: + script = f""" +import importlib.abc +import socket +import sys +sys.path.insert(0, {_ROOT.as_posix()!r}) +class NoRendering(importlib.abc.MetaPathFinder): + def find_spec(self, fullname, *args): + if fullname.split('.')[0] in {{'dexsim', 'torch', 'numpy', 'cv2', 'PIL', 'matplotlib'}}: + raise AssertionError('Catalog query imported ' + fullname) +sys.meta_path.insert(0, NoRendering()) +def no_network(*args, **kwargs): + raise AssertionError('Catalog query used the network') +socket.socket.connect = no_network +from embodichain.cli.main import main +main(['preview-material', {option!r}]) +""" + result = subprocess.run( + [sys.executable, "-I", "-c", script], + cwd=tmp_path, + env={**os.environ, "EMBODICHAIN_DATA_ROOT": str(tmp_path / "assets")}, + text=True, + capture_output=True, + timeout=30, + check=True, + ) + if option == "--list": + records = [json.loads(line) for line in result.stdout.splitlines()] + assert len(records) == 24 + assert {record["source"] for record in records} == {"builtin", "resource"} + assert "SoapBubbleInterior" not in {record["name"] for record in records} + else: + assert "usage: embodichain preview-material" in result.stdout + assert "--material-params" in result.stdout + assert not (tmp_path / "assets").exists() + assert not (tmp_path / "outputs").exists() + + +def test_list_source_filter_is_offline(capsys) -> None: + preview_material.cli(["--list", "--source", "builtin"]) + records = [json.loads(line) for line in capsys.readouterr().out.splitlines()] + assert len(records) == 6 + assert all(record["requires_download"] is False for record in records) + + +@pytest.fixture +def captures(monkeypatch): + from embodichain.lab.sim import SimulationManager + + calls = [] + monkeypatch.setattr(SimulationManager, "flush_cleanup_queue", lambda: None) + + def render(args, configs, skipped): + calls.append((args, configs, skipped)) + return [] + + monkeypatch.setattr(preview_material, "_render_materials", render) + return calls + + +def test_default_preview_inherits_authored_fields_and_requests_window(captures) -> None: + preview_material.cli([]) + args, configs, skipped = captures[0] + assert args.renderer == "rt" and args.headless is False + assert configs[0].preset == "GlassClear" and configs[0].ior is None + assert configs[0].parameters == {} and skipped == [] + + +def test_overrides_keep_explicit_zero_false_and_none(captures) -> None: + preview_material.cli( + [ + "--material", + "GlassClear", + "--headless", + "--material-params", + '{"ior":null,"roughness":0,"parameters":{"thin_walled":false,"volume_attenuation_distance":8}}', + ] + ) + args, configs, skipped = captures[0] + cfg = configs[0] + assert args.headless and not skipped + assert cfg.ior is None and cfg.roughness == 0 + assert cfg.parameters == {"thin_walled": False, "volume_attenuation_distance": 8} + + +@pytest.mark.parametrize( + "argv, message", + [ + (["--all", "--material", "GlassClear"], "not allowed"), + (["--material-params", "[]"], "JSON object"), + (["--material-params", "{broken"], "JSON object"), + (["--material-params", '{"uid":"caller"}'], "preview UIDs"), + (["--spp", "0"], "positive integer"), + (["--renderer", "no-render"], "invalid choice"), + (["--headless", "--max-steps", "1"], "native-window"), + (["--source", "builtin"], "requires --list or --all"), + (["--compatible-only"], "requires --all"), + (["--compare-native", "--material-params", '{"ior":1.6}'], "authored presets"), + (["--material", "unknown"], "Unknown default material"), + (["--renderer", "hybrid"], "requires renderer='rt'"), + (["--all", "--renderer", "fast-rt"], "requires renderer='rt'"), + ( + ["--material-params", '{"roughness":0,"parameters":{"roughness":0.1}}'], + "Duplicate", + ), + (["--material-params", '{"parameters":{"transmission":-1}}'], "Invalid visual"), + ( + ["--material-params", '{"material_type":"BSDF"}'], + "cannot specify material_type", + ), + ( + [ + "--material", + "PlasticMatteBlue", + "--renderer", + "hybrid", + "--material-params", + '{"parameters":{"clearcoat":0}}', + ], + "requires renderer='rt'", + ), + ( + [ + "--all", + "--compatible-only", + "--renderer", + "hybrid", + "--material-params", + '{"parameters":{"clearcoat":0}}', + ], + "No selected presets", + ), + ], +) +def test_invalid_requests_fail_before_rendering( + captures, capsys, argv, message +) -> None: + with pytest.raises(SystemExit) as error: + preview_material.cli(argv) + assert error.value.code == 2 + assert message in capsys.readouterr().err + assert not captures + + +@pytest.mark.parametrize("renderer", ["hybrid", "fast-rt"]) +def test_explicit_compatible_batch_reports_every_skipped_preset( + captures, capsys, renderer +) -> None: + preview_material.cli(["--all", "--compatible-only", "--renderer", renderer]) + args, configs, skipped = captures[0] + assert args.all + assert {cfg.preset for cfg in configs} == { + "PlasticMatteBlue", + "PlasticGlossyRed", + "GoldMetal", + "MirrorMetal", + "BrickRed", + "WoodOak", + "CeramicTileWhite", + "MarbleWhite", + "AsphaltDark", + "FabricGray", + "LeatherBrown", + "PlasticABSBlack", + "RubberBlack", + "SteelBrushed", + } + assert {item["name"] for item in skipped} == { + "GlassClearSurface", + "GlassFrostedSurface", + "ChromePolished", + "GoldPolished", + "CopperPolished", + "GlassClear", + "GlassFrosted", + "GlassSmoke", + "SkinHumanLight", + "SoapBubble", + } + stderr = capsys.readouterr().err + assert all(f"Skipping {item['name']}:" in stderr for item in skipped) + + +def test_render_failure_still_drains_native_cleanup(monkeypatch) -> None: + from embodichain.lab.sim import SimulationManager + + flushed = [] + + def fail(*args): + raise RuntimeError("capture failed") + + monkeypatch.setattr(preview_material, "_render_materials", fail) + monkeypatch.setattr( + SimulationManager, "flush_cleanup_queue", lambda: flushed.append(True) + ) + with pytest.raises(RuntimeError, match="capture failed"): + preview_material.cli(["--headless", "--material", "PlasticMatteBlue"]) + assert flushed == [True] diff --git a/tests/test_main.py b/tests/test_main.py index e2e2c4f35..732324f4a 100644 --- a/tests/test_main.py +++ b/tests/test_main.py @@ -45,6 +45,7 @@ "show-task", "preview-asset", "preview-robot", + "preview-material", "preview_lerobot_data", "run-task", "run-example", From 737e49e21fe794d5663c6cf8a17e20e28b7ffaed Mon Sep 17 00:00:00 2001 From: yuecideng Date: Fri, 23 Oct 2026 23:46:55 +0800 Subject: [PATCH 09/10] test(sim): declare renderer for deformable scene stub --- tests/sim/objects/test_deformable_object.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tests/sim/objects/test_deformable_object.py b/tests/sim/objects/test_deformable_object.py index 01867fd12..0f0a0191e 100644 --- a/tests/sim/objects/test_deformable_object.py +++ b/tests/sim/objects/test_deformable_object.py @@ -216,7 +216,8 @@ def test_manager_declares_deformables_with_supported_solver( add_cloth_object=lambda descriptor: descriptor, ) monkeypatch.setattr("dexsim.spawn.SceneBuilder", lambda _world: builder) - sim._spawn_scene = SpawnScene(object(), num_envs=2) + # This declaration-only World stub has no native renderer query interface. + sim._spawn_scene = SpawnScene(object(), num_envs=2, renderer="hybrid") try: facade = sim.add_deformable_object( From 8c95da01c0614781e7ede4231f7f9ed4b4553158 Mon Sep 17 00:00:00 2001 From: yuecideng Date: Sat, 24 Oct 2026 00:10:57 +0800 Subject: [PATCH 10/10] refactor(sim): select visual scattering from optical parameters --- .../topics/simulation-system/materials.md | 8 +++ .../visual-material-acceptance.md | 10 ++-- .../embodichain.lab.sim.material.rst | 26 +++++++-- docs/source/guides/preview_material.md | 4 +- .../sim/sim_manager/rendering/materials.md | 32 ++++++++++- embodichain/lab/sim/_material_presets.py | 13 ----- embodichain/lab/sim/material.py | 39 +++++-------- .../sim/motion/planners/curobo/curobo_yaml.py | 7 ++- examples/sim/demo/scoop_ice.py | 7 ++- tests/lab/scripts/test_preview_material.py | 2 +- .../motion/planners/test_curobo_planner.py | 11 +++- tests/sim/test_material.py | 57 ++++++++++++++++--- tests/sim/test_material_integration.py | 28 ++++++--- 13 files changed, 166 insertions(+), 78 deletions(-) diff --git a/agent_context/topics/simulation-system/materials.md b/agent_context/topics/simulation-system/materials.md index d1139d4d7..33fc3fe58 100644 --- a/agent_context/topics/simulation-system/materials.md +++ b/agent_context/topics/simulation-system/materials.md @@ -11,6 +11,14 @@ to flat fields so `replace(field=None)` can restore inheritance. Do not infer override intent from equality with a default, or modify generic `configclass` for this policy. +Scattering is parameter-driven in both modes. `VisualMaterialCfg` has no +`material_type` field, and wrappers never force a native BRDF/BTDF/BSDF model. +Basic handwritten materials keep native descriptor creation without a lobe +override; advanced handwritten parameters use the manifest resolver and its +renderer preflight. Dictionary input rejects the removed field rather than +silently losing a legacy transmission choice. Migration examples live in the +material guide linked below. + `_material_presets.py` owns validated schema-v1 overrides, renderer preflight and World-scoped manifest/template caches. `SpawnScene._resolve_materials()` shares that path with runtime creation. Its resource definition registry reserves UIDs diff --git a/docs/architecture/visual-material-acceptance.md b/docs/architecture/visual-material-acceptance.md index 44fac7f67..e4e29e598 100644 --- a/docs/architecture/visual-material-acceptance.md +++ b/docs/architecture/visual-material-acceptance.md @@ -10,7 +10,7 @@ for implementation ownership and lifecycle rules. | Boundary | Required behavior | | --- | --- | | Identity and aliases | Unnamed materials keep independent appearances. Explicit UID conflicts fail across runtime and Spawn creation in either order. Equivalent aliases and repeated instance creation preserve native state. | -| PBR conversion | Both creation paths agree for BRDF/BTDF/BSDF, emission intensities 0/1/10 and nondefault scalar properties. Invalid values fail before native writes. RGBA writes retain alpha; RGB getters cannot verify it. | +| PBR conversion | Both creation paths agree for parameter-driven opaque, reflective and transmitting materials, emission intensities 0/1/10 and nondefault scalars. No explicit native scattering type is written. Invalid values fail before native writes. RGBA writes retain alpha; RGB getters cannot verify it. | | Native handles | Imported and working instances update their exact native handles. Material IDs distinguish different instances with identical names. | | Selection and reset | Empty selections do nothing; invalid indices and partial shared selections fail before writes. Independent updates affect selected environments only. Deterministic rigid-object and group resets restore selected properties. | | Randomization resources | Solid and library tiers honor scalar PBR ranges. Shared instances are mutated once per call. Different source directories remain separate; warmed texture pools and instance registries do not grow on repeated calls. | @@ -58,6 +58,7 @@ In addition to the legacy handwritten-material checks above, qualify the unified | --- | --- | | Inheritance | GlassClear inherits IOR 1.52; explicit 1.5 overrides it. Zero/false are explicit; `replace(ior=None)` restores inheritance. No flat/native duplicate properties or invalid parameters reach native loading. | | Round trips | Constructor, factory, Python/YAML, copy, replace and dictionary round trips retain the preset and unspecified state. Manual construction retains historical concrete defaults. | +| Removed scattering selector | Python construction rejects `material_type`; dictionary/YAML loading reports its removal, including old null values. Serialization emits no selector. Explicit transmission parameters survive native loading, complete reset and topology rebuild. | | Distribution | Offline queries list 24 public presets, including six built-ins without a texture-archive download, with SoapBubbleInterior available explicitly. Build/install a wheel away from the source checkout. With an empty data cache, download the pinned archive; repeat without network, repair a missing/corrupt member, and verify auxiliary texture references. | | Renderer preflight | Ten basic presets load on Hybrid/FastRT/OfflineRT. Eight advanced presets, the helper and advanced parameter variations require OfflineRT. Reject before download/native loading. NoRender preserves declarations and does neither. | | Native resources | Runtime-first and inline-first aliases share exact handles. Different UIDs use separate children of immutable templates. Repeated creation preserves state and bounded native instance counts. Variants stage JSON only, never duplicate PNGs. | @@ -91,8 +92,9 @@ exactly the archive and versioned path documented in the material API. Asset redistribution/provenance must be retained when deploying a mirror. Parameter variants must be created before binding. Qualification does not cover -cross-model hot shader mutation, NRD packaging fixes, automatic geometry/UV -changes or a global removal of the legacy manual `material_type` interface. +cross-model hot shader mutation, NRD packaging fixes or automatic geometry/UV +changes. The public `material_type` selector is removed; legacy configurations +must explicitly describe their intended optical properties. ## Compatibility @@ -111,7 +113,7 @@ changes or a global removal of the legacy manual `material_type` interface. State and lifecycle checks do not establish optical correctness. Before release: -- Compare BRDF/BTDF/BSDF reflection, transmission, alpha and emission intensities +- Compare opaque/metal/mirror/transmitting parameter sets, alpha and emission intensities 0/1/10 in a separate FastRT process with controlled lighting, camera and exposure. - Check multi-material meshes, URDF articulations and deformables across partial reset and rebuilds. Compare file, Tensor and native Texture inputs for color diff --git a/docs/source/api_reference/embodichain/embodichain.lab.sim.material.rst b/docs/source/api_reference/embodichain/embodichain.lab.sim.material.rst index d2f5bb7cb..c50cd44be 100644 --- a/docs/source/api_reference/embodichain/embodichain.lab.sim.material.rst +++ b/docs/source/api_reference/embodichain/embodichain.lab.sim.material.rst @@ -61,10 +61,23 @@ fields during construction, so ``replace(ior=None)`` also clears that form of override. The remaining advanced properties stay in ``parameters``. Specifying the same native property in both places is an error. Unknown, nonfinite, incorrectly typed and out-of-range parameters fail before native -loading. Presets reject ``material_type`` and texture replacement; their native -parameters select scattering. The manual ``material_type`` interface remains -available. Manual configurations with advanced parameters also use a complete -native manifest and retain the manual material-type policy. +loading. Presets reject texture replacement. Both handwritten and preset +materials select scattering from optical parameters; ``material_type`` and +the ``VisualMaterial.RT_MATERIAL_TYPES`` / ``MAT_TYPE_MAPPING`` constants have +been removed. No default BRDF is explicitly written to native instances. +Manual configurations with advanced parameters use a complete native manifest:: + + ice = VisualMaterialCfg( + base_color=[1, 1, 1, 1], roughness=0.2, ior=1.31, + parameters={"transmission": 1.0}, + ) + +Transmission and other advanced handwritten parameters require OfflineRT. +Remove ``material_type`` from stored Python/YAML configurations; ``from_dict`` +rejects the removed key even if its value is ``None``. Legacy BRDF/BTDF/BSDF +labels are not silently converted because their scattering semantics are not +interchangeable. See the +:doc:`migration example `. ``BrickRed``, ``WoodOak``, ``CeramicTileWhite``, ``MarbleWhite``, ``AsphaltDark``, ``FabricGray``, ``LeatherBrown``, ``PlasticABSBlack``, ``RubberBlack`` and @@ -107,8 +120,9 @@ The optional ``SoapBubbleInterior`` auxiliary material references SoapBubble's textures. Hollow bubble shells and segmented skin meshes belong to preview geometry. The factory neither creates those shapes nor changes UVs. ``SkinHumanLight`` approximates diffuse transmission rather than random-walk -subsurface scattering. Run ``examples/sim/rendering/default_materials.py`` for -previews, optional segmented-face geometry and direct-native image comparisons. +subsurface scattering. Use ``embodichain preview-material`` for previews, +optional segmented-face geometry and direct-native image comparisons; see the +:doc:`CLI guide `. .. rubric:: Classes diff --git a/docs/source/guides/preview_material.md b/docs/source/guides/preview_material.md index 14679d9c1..abee9c059 100644 --- a/docs/source/guides/preview_material.md +++ b/docs/source/guides/preview_material.md @@ -47,7 +47,9 @@ embodichain preview-material --material PlasticMatteBlue --headless \ Omitted fields and JSON `null` inherit the preset. Explicit `0` and `false` remain overrides. Duplicate flat/native properties, invalid values, -`material_type` and texture edits fail before creating a World or loading assets. +the removed `material_type` field and texture edits fail before creating a World +or loading assets. Both handwritten and preset configurations now select +scattering from optical parameters; see the catalog's migration example. The command owns material UIDs; select the preset using `--material`. Variants are created before binding. The preview does not depend on native diff --git a/docs/source/overview/sim/sim_manager/rendering/materials.md b/docs/source/overview/sim/sim_manager/rendering/materials.md index a7a36502d..cfd34ae66 100644 --- a/docs/source/overview/sim/sim_manager/rendering/materials.md +++ b/docs/source/overview/sim/sim_manager/rendering/materials.md @@ -40,12 +40,38 @@ glass = VisualMaterialCfg.from_preset( ) ``` -Presets select scattering through native material parameters. Keep variants -pre-created and rebind their instances when changing appearance. The manual -`material_type` interface remains available for handwritten configurations. +Both handwritten materials and presets select scattering through native optical +parameters. Keep variants pre-created and rebind their instances when changing +appearance. `VisualMaterialCfg` no longer exposes `material_type`. See the {doc}`material API ` for UID sharing, validation, copy/replace, reset and lifecycle rules. +### Migrate handwritten materials + +Opaque materials keep their usual base color, metallic, roughness, emission and +IOR defaults. For transmission, specify the optical properties explicitly: + +```python +ice = VisualMaterialCfg( + base_color=[1.0, 1.0, 1.0, 1.0], + roughness=0.2, + ior=1.31, + parameters={"transmission": 1.0}, +) +``` + +This transmitting configuration requires OfflineRT (`renderer="rt"`). Native +parameters select the reflection/transmission model before geometry is bound. +The factory no longer forces a BRDF model on handwritten defaults. + +Remove `material_type` from Python and YAML configurations. Dictionary loading +rejects the removed key, including a serialized `null`, with a migration error. +Old BRDF/BTDF/BSDF labels are not automatically converted: pure transmission and +reflection-plus-transmission have different semantics. Select a glass preset +or specify transmission, IOR, roughness and any required volume/thin-wall +properties for the intended material. `RT_MATERIAL_TYPES` and +`MAT_TYPE_MAPPING` have also been removed from `VisualMaterial`. + ## Built-in parameter presets These six definitions are included in the wheel and **do not download the diff --git a/embodichain/lab/sim/_material_presets.py b/embodichain/lab/sim/_material_presets.py index 2161529a3..feaed7b05 100644 --- a/embodichain/lab/sim/_material_presets.py +++ b/embodichain/lab/sim/_material_presets.py @@ -219,7 +219,6 @@ class _AssetMaterialDesc: parameters_json: str revision: str textures: tuple[tuple[str, str], ...] = () - material_type: str | None = None def template_key(self) -> str: definition = ( @@ -227,7 +226,6 @@ def template_key(self) -> str: self.preset, self.parameters_json, self.textures, - self.material_type, ) return sha256(repr(definition).encode()).hexdigest() @@ -235,10 +233,6 @@ def template_key(self) -> str: def _asset_desc_from_cfg(cfg: VisualMaterialCfg, uid: str) -> _AssetMaterialDesc: if cfg.preset is not None: info = get_default_material_info(cfg.preset) - if cfg.material_type is not None: - raise ValueError( - "Preset materials cannot specify material_type; native parameters select scattering." - ) if any(getattr(cfg, key) is not None for key in _TEXTURE_FIELDS): raise ValueError("Preset texture replacement or removal is not supported.") revision = info["revision"] @@ -257,7 +251,6 @@ def _asset_desc_from_cfg(cfg: VisualMaterialCfg, uid: str) -> _AssetMaterialDesc for field_name, key in _TEXTURE_FIELDS.items() if getattr(cfg, field_name) is not None ), - material_type=cfg.material_type if cfg.preset is None else None, ) @@ -394,12 +387,6 @@ def resolve(self, desc: _AssetMaterialDesc) -> tuple[Any, Any]: raise RuntimeError( f"DexSim could not load material {desc.preset or desc.name!r}." ) - if desc.material_type is not None: - from .material import _MATERIAL_TYPES - - template.get_inst().update_pbr_material_type( - _MATERIAL_TYPES[desc.material_type] - ) self._templates[key] = template template = self._templates[key] instance = template.get_inst(f"ec_instance_{uuid4().hex}") diff --git a/embodichain/lab/sim/material.py b/embodichain/lab/sim/material.py index a623ebf8e..0670a8da6 100644 --- a/embodichain/lab/sim/material.py +++ b/embodichain/lab/sim/material.py @@ -51,6 +51,9 @@ class VisualMaterialCfg: resource value. Serialization retains that distinction. Use :meth:`from_preset` to construct a new preset configuration; ``replace`` preserves existing fields rather than switching configuration sources. + Native scattering is selected by optical parameters, including + ``parameters={"transmission": 1.0}`` for a transmitting material. Explicit + BRDF/BTDF/BSDF model selection is not part of this configuration. """ uid: str | None = None @@ -90,9 +93,6 @@ class VisualMaterialCfg: ior: float | None = None """Index of refraction for PBR materials, only used in ray tracing.""" - material_type: str | None = None - """Ray tracing material type. Options: 'BRDF', 'BTDF', 'BSDF'""" - preset: str | None = None """Default material name. Presets select scattering from native parameters.""" @@ -112,7 +112,6 @@ def __post_init__(self) -> None: "emissive": [0.0, 0.0, 0.0], "emissive_intensity": 1.0, "ior": 1.5, - "material_type": "BRDF", } for key, value in defaults.items(): if getattr(self, key) is None: @@ -144,7 +143,8 @@ def from_preset( Raises: ValueError: A preset, override, duplicate property or texture edit - is invalid. ``material_type`` is unavailable for presets. + is invalid. + TypeError: An unknown configuration field is supplied. """ from embodichain.data.default_materials import get_default_material_info @@ -165,9 +165,19 @@ def from_dict(cls, cfg_dict: dict[str, Any]) -> VisualMaterialCfg: Returns: Configuration with inheritance preserved before defaults are filled. + + Raises: + ValueError: The removed scattering selector or an unknown preset + field is supplied. Describe optical properties explicitly. """ from dataclasses import fields + if "material_type" in cfg_dict: + raise ValueError( + "VisualMaterialCfg.material_type has been removed. Use material " + "parameters such as transmission, roughness, metallic and ior; " + "legacy BTDF/BSDF choices require explicit optical parameters." + ) names = {item.name for item in fields(cls)} values = {} for k, v in cfg_dict.items(): @@ -182,13 +192,6 @@ def from_dict(cls, cfg_dict: dict[str, Any]) -> VisualMaterialCfg: return cls(**values) -_MATERIAL_TYPES = { - "BRDF": "BRDF_GGX_SMITH", - "BTDF": "BTDF_GGX_SMITH", - "BSDF": "BSDF_GGX_SMITH", -} - - def _material_scalar( value: float, name: str, *, lower: float = 0.0, upper: float | None = None ) -> float: @@ -222,8 +225,6 @@ def _material_desc_from_cfg( from ._material_presets import _asset_desc_from_cfg return _asset_desc_from_cfg(cfg, uid) - if cfg.material_type not in _MATERIAL_TYPES: - raise ValueError(f"Invalid visual material_type {cfg.material_type!r}.") if cfg.parameters: from ._material_presets import _asset_desc_from_cfg @@ -250,7 +251,6 @@ def _material_desc_from_cfg( 1.0, ), ior=ior, - material_type=_MATERIAL_TYPES[cfg.material_type], has_alpha=True, ) @@ -262,14 +262,6 @@ class VisualMaterial: It holds multiple material instances, which is used to assign to different objects in the environment. """ - RT_MATERIAL_TYPES = [ - "BRDF", - "BTDF", - "BSDF", - ] - - MAT_TYPE_MAPPING: dict[str, str] = _MATERIAL_TYPES - def __init__( self, cfg: VisualMaterialCfg, @@ -357,7 +349,6 @@ def set_default_properties( mat_inst.set_ao_texture(cfg.ao_texture) mat_inst.set_ior(desc.ior) - mat_inst.mat.update_pbr_material_type(desc.material_type) def create_instance(self, uid: str) -> VisualMaterialInst: """Create a new material instance from this material template. diff --git a/embodichain/lab/sim/motion/planners/curobo/curobo_yaml.py b/embodichain/lab/sim/motion/planners/curobo/curobo_yaml.py index a8132d11d..d76602d50 100644 --- a/embodichain/lab/sim/motion/planners/curobo/curobo_yaml.py +++ b/embodichain/lab/sim/motion/planners/curobo/curobo_yaml.py @@ -924,12 +924,13 @@ def _get_or_create_dexsim_material( if material is None: material = env.create_pbr_material(name) material_inst = material.get_inst() - material_inst.update_pbr_material_type("BSDF_GGX_SMITH") + # Transmission selects the native scattering lobe before actor binding. + # A fourth color component controls the diagnostic shell's opacity. + opacity = color[3] if len(color) == 4 else 0.45 + material_inst.set_transmission(1.0 - opacity) material_inst.set_pbr_param("baseColor", color[0], color[1], color[2]) material_inst.set_pbr_param("roughness", 0.02) material_inst.set_pbr_param("ior", 1.12) - material_inst.set_pbr_param("colorAbsorption", 0.005, 0.005, 0.005) - material_inst.set_pbr_param("scaleAbsorption", 0.01) return material return material diff --git a/examples/sim/demo/scoop_ice.py b/examples/sim/demo/scoop_ice.py index 14d4cfd73..260da2d9c 100644 --- a/examples/sim/demo/scoop_ice.py +++ b/examples/sim/demo/scoop_ice.py @@ -34,6 +34,8 @@ def build_parser() -> argparse.ArgumentParser: """Build CLI options without initializing simulation resources.""" parser = argparse.ArgumentParser(description="Scoop ice task simulation") add_sim_args_to_parser(parser) + # The ice material uses authored transmission and requires OfflineRT. + parser.set_defaults(renderer="rt") add_seed_arg_to_parser(parser, default=0, scope="ice placement") return parser @@ -351,14 +353,13 @@ def create_ice_cubes(sim: SimulationManager): ice_cubes: RigidObjectGroup = sim.add_rigid_object_group(cfg=ice_cubes_cfg) # Set visual material for ice cubes. - # The material below only works for ray tracing backend. - # Set ior to 1.31 and material type to "BSDF" for better ice appearance. + # Explicit optical parameters select ice scattering in OfflineRT. ice_mat = sim.create_visual_material( cfg=VisualMaterialCfg( base_color=[1.0, 1.0, 1.0, 1.0], ior=1.31, roughness=0.2, - material_type="BSDF", + parameters={"transmission": 1.0}, ) ) sim.prepare() diff --git a/tests/lab/scripts/test_preview_material.py b/tests/lab/scripts/test_preview_material.py index 63f5f14be..ccada270e 100644 --- a/tests/lab/scripts/test_preview_material.py +++ b/tests/lab/scripts/test_preview_material.py @@ -141,7 +141,7 @@ def test_overrides_keep_explicit_zero_false_and_none(captures) -> None: (["--material-params", '{"parameters":{"transmission":-1}}'], "Invalid visual"), ( ["--material-params", '{"material_type":"BSDF"}'], - "cannot specify material_type", + "material_type", ), ( [ diff --git a/tests/sim/motion/planners/test_curobo_planner.py b/tests/sim/motion/planners/test_curobo_planner.py index bccdae0e4..80f3dae22 100644 --- a/tests/sim/motion/planners/test_curobo_planner.py +++ b/tests/sim/motion/planners/test_curobo_planner.py @@ -1172,7 +1172,7 @@ class _FakeDexsimMaterial: def __init__(self, name, color): self.name = name self.color = color - self.pbr_type = None + self.transmission = None self.pbr_params = {} def set_base_color(self, color): @@ -1181,8 +1181,8 @@ def set_base_color(self, color): def get_inst(self): return self - def update_pbr_material_type(self, material_type): - self.pbr_type = material_type + def set_transmission(self, value): + self.transmission = value def set_pbr_param(self, name, *values): self.pbr_params[name] = values @@ -1261,6 +1261,9 @@ def test_obstacle_collision_visualization_loads_one_combined_dexsim_actor(): assert bounds.get_extent() == pytest.approx([0.1, 0.1, 0.1]) assert actors[0].material.name == "curobo_world_collision_material" assert actors[0].material.color == [1.0, 0.0, 0.0] + assert actors[0].material.transmission == pytest.approx(0.55) + assert "colorAbsorption" not in actors[0].material.pbr_params + assert "scaleAbsorption" not in actors[0].material.pbr_params def test_combined_collision_visualization_colors_and_cleans_two_actors( @@ -1324,11 +1327,13 @@ def get_link_pose( assert robot_bounds.get_extent() == pytest.approx([0.22, 0.22, 0.22]) assert robot_actor.material.name == "curobo_robot_collision_material" assert robot_actor.material.color == [0.75, 0.75, 1.0] + assert robot_actor.material.transmission == pytest.approx(0.55) obstacle_bounds = obstacle_actor.mesh.get_axis_aligned_bounding_box() assert obstacle_bounds.get_center() == pytest.approx([2.0, 2.0, 3.0]) assert obstacle_bounds.get_extent() == pytest.approx([0.1, 0.1, 0.1]) assert obstacle_actor.material.name == "curobo_world_collision_material" assert obstacle_actor.material.color == [1.0, 0.75, 0.75] + assert obstacle_actor.material.transmission == pytest.approx(0.55) assert env.removed_actors == list(reversed(env.actors)) assert all(not Path(path).exists() for path in env.loaded_paths) assert "Showing 2 cuRobo collision spheres" in prompts[0] diff --git a/tests/sim/test_material.py b/tests/sim/test_material.py index 34239a53c..51d567909 100644 --- a/tests/sim/test_material.py +++ b/tests/sim/test_material.py @@ -153,10 +153,7 @@ def test_asset_wrapper_setters_use_exact_existing_handle(setter, value, native_s @pytest.mark.parametrize("intensity", [0.0, 1.0, 10.0]) -@pytest.mark.parametrize("material_type", ["BRDF", "BTDF", "BSDF"]) -def test_runtime_and_spawn_lower_identical_material_properties( - intensity, material_type -): +def test_runtime_and_spawn_lower_identical_material_properties(intensity): cfg = VisualMaterialCfg( uid="paint", base_color=[0.1, 0.2, 0.3, 0.5], @@ -164,7 +161,6 @@ def test_runtime_and_spawn_lower_identical_material_properties( roughness=0.2, emissive=[0.2, 0.3, 0.4], emissive_intensity=intensity, - material_type=material_type, ior=2.0, ) _, (_, descriptor) = _compile_visual_material("object", cfg) @@ -178,7 +174,8 @@ def test_runtime_and_spawn_lower_identical_material_properties( np.testing.assert_allclose( native.set_emissive.call_args.args[0], descriptor.emissive ) - native.update_pbr_material_type.assert_called_once_with(descriptor.material_type) + assert descriptor.material_type is None + native.update_pbr_material_type.assert_not_called() assert descriptor.has_alpha is True @@ -206,7 +203,6 @@ def test_emissive_intensity_can_be_zero_then_restored_without_losing_rgb(): {"ior": 0.0}, {"emissive_intensity": -1.0}, {"emissive": [1e308, 0.0, 0.0], "emissive_intensity": 1e308}, - {"material_type": "unknown"}, ], ) def test_invalid_material_config_is_rejected_before_native_instance_creation( @@ -422,7 +418,7 @@ def test_preset_inheritance_and_yaml_roundtrip_keep_explicit_defaults(): assert VisualMaterialCfg.from_dict({"preset": "GlassClear"}).ior is None assert VisualMaterialCfg().ior == 1.5 assert VisualMaterialCfg().roughness == 0.7 - assert VisualMaterialCfg().material_type == "BRDF" + assert "material_type" not in VisualMaterialCfg().to_dict() assert ( _material_desc_from_cfg(VisualMaterialCfg.from_dict(cfg.to_dict()), "glass") == inherited_desc @@ -443,7 +439,6 @@ def test_preset_inheritance_and_yaml_roundtrip_keep_explicit_defaults(): {"parameters": {"misspelled": 1.0}}, {"ior": 0.0}, {"roughness": 1.1}, - {"material_type": "BSDF"}, {"base_color_texture": "override.png"}, ], ) @@ -452,6 +447,50 @@ def test_preset_invalid_overrides_fail_before_download(properties): VisualMaterialCfg.from_preset("GlassClear", **properties) +@pytest.mark.parametrize("preset", [None, "GlassClear"]) +def test_removed_scattering_type_is_rejected_without_silent_conversion(preset): + with pytest.raises(TypeError, match="material_type"): + VisualMaterialCfg(preset=preset, material_type="BSDF") + for legacy in (None, "BRDF", "BTDF", "BSDF"): + with pytest.raises(ValueError, match="material_type has been removed"): + VisualMaterialCfg.from_dict({"preset": preset, "material_type": legacy}) + if preset is not None: + with pytest.raises(TypeError, match="material_type"): + VisualMaterialCfg.from_preset(preset, material_type="BSDF") + + +def test_manual_optical_parameters_load_without_an_explicit_scattering_type(): + import json + from pathlib import Path + from embodichain.lab.sim._material_presets import _MaterialResources + from embodichain.lab.sim.material import _material_desc_from_cfg + + cfg = VisualMaterialCfg( + uid="ice", + base_color=[1, 1, 1, 1], + ior=1.31, + roughness=0.2, + parameters={"transmission": 1.0}, + ) + _, (_, descriptor) = _compile_visual_material("ice_object", cfg) + assert descriptor == _material_desc_from_cfg(cfg, "ice") + world = MagicMock() + template = _native_template() + world.get_env.return_value.load_material.return_value = template + resources = _MaterialResources(world, "rt") + try: + resources.resolve(descriptor) + directory = Path(world.get_env.return_value.load_material.call_args.args[0]) + manifest = json.loads((directory / "material.json").read_text()) + assert manifest["parameters"]["transmission"] == 1.0 + assert manifest["parameters"]["ior"] == 1.31 + assert manifest["parameters"]["roughness"] == 0.2 + template.get_inst().update_pbr_material_type.assert_not_called() + assert "material_type" not in cfg.to_dict() + finally: + resources.close() + + def test_resource_wrapper_preserves_authored_template_and_resets_full_instance(): template = _native_template() default = template.get_inst() diff --git a/tests/sim/test_material_integration.py b/tests/sim/test_material_integration.py index 35315715a..3046b8512 100644 --- a/tests/sim/test_material_integration.py +++ b/tests/sim/test_material_integration.py @@ -243,7 +243,8 @@ def test_native_material_creation_reset_and_topology_rebuild(physics): @pytest.mark.parametrize("physics", ["default", "newton"]) -def test_native_preset_identity_reset_and_rebuild(physics): +@pytest.mark.parametrize("source", ["preset", "manual"]) +def test_native_parameter_material_identity_reset_and_rebuild(physics, source): sim = SimulationManager( SimulationManagerCfg( headless=True, @@ -251,11 +252,19 @@ def test_native_preset_identity_reset_and_rebuild(physics): num_envs=2, scene_node_capacity=128, physics_cfg=physics_cfg_for_backend(physics), - render_cfg=RenderCfg(renderer="hybrid"), + render_cfg=RenderCfg(renderer="hybrid" if source == "preset" else "rt"), ) ) - cfg = VisualMaterialCfg.from_preset( - "BrickRed", uid="brick", ior=1.6, roughness=0.25 + cfg = ( + VisualMaterialCfg.from_preset("BrickRed", uid="brick", ior=1.6, roughness=0.25) + if source == "preset" + else VisualMaterialCfg( + uid="brick", + base_color=[1, 1, 1, 1], + ior=1.6, + roughness=0.25, + parameters={"transmission": 0.75}, + ) ) obj = runtime = other = child = extra = selected = alias = None try: @@ -287,12 +296,15 @@ def test_native_preset_identity_reset_and_rebuild(physics): child = runtime.create_instance("other_brick") assert child.mat.get_material_id() != other.inst.mat.get_material_id() child.set_ior(2.0) - child.mat.set_transmission(0.75) - assert child.mat.get_transmission() == pytest.approx(0.75) + child.mat.set_transmission(0.25) + assert child.mat.get_transmission() == pytest.approx(0.25) runtime.set_default_properties(child, cfg) assert child.ior == pytest.approx(1.6) - # The authored legacy template leaves transmission unset (native None). - assert child.mat.get_transmission() is None + if source == "preset": + # The legacy resource template leaves transmission unset. + assert child.mat.get_transmission() is None + else: + assert child.mat.get_transmission() == pytest.approx(0.75) count = runtime.mat.inst_count() for _ in range(1025): assert runtime.create_instance("other_brick") is child

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