From aeb37c582e25bc345c544020bd59ecdde7b32980 Mon Sep 17 00:00:00 2001 From: HuiDong Chen Date: Sat, 4 Apr 2026 08:22:51 +0800 Subject: [PATCH 1/3] minor test cleanup --- .../test/test_rendering_correctness.py | 23 ++++++++----------- 1 file changed, 10 insertions(+), 13 deletions(-) diff --git a/source/isaaclab_tasks/test/test_rendering_correctness.py b/source/isaaclab_tasks/test/test_rendering_correctness.py index 02c82fc16dc..83008d82ece 100644 --- a/source/isaaclab_tasks/test/test_rendering_correctness.py +++ b/source/isaaclab_tasks/test/test_rendering_correctness.py @@ -6,7 +6,7 @@ """Tests for rendering correctness. Each test builds an environment with a given (physics_backend, renderer, data_type), -steps once, then checks if camera outputs are not blank (at least one non-zero +resets, then checks if camera outputs are not blank (at least one non-zero pixel) and consistent with golden images. Env-specific fixtures use parametrized combinations; a separate test covers a list of registered task IDs that use camera-based observations. @@ -577,15 +577,12 @@ def _validate_camera_outputs( _COMPARISON_SCORES.append(entry) - if not succeeded: - timestamp = datetime.now().strftime("%Y-%m-%d-%H-%M-%S") - result_path = os.path.join(golden_image_dir, f"{physics_backend}-{renderer}-{data_type}-{timestamp}.png") - result_image.save(result_path) - pytest.fail( - f"[{test_name}] Inconsistency detected for camera output '{data_type}': {error_message}. " - f"Saved result image to {result_path} for further investigation. " - f"If result image is correct, please replace the golden image at {golden_path} with the result image." - ) + assert succeeded, ( + f"[{test_name}] Camera output does not match the golden image " + f"(physics={physics_backend}, renderer={renderer}, data_type={data_type}).\n" + f"Mismatch details: {error_message}\n" + f"Images were written to {_COMPARISON_IMAGES_DIR}." + ) def _collect_camera_outputs(env: object) -> dict[str, dict[str, torch.Tensor]]: @@ -625,7 +622,7 @@ def _collect_camera_outputs(env: object) -> dict[str, dict[str, torch.Tensor]]: @pytest.fixture(params=_PHYSICS_RENDERER_AOV_COMBINATIONS) def shadow_hand_env(request): - """Build Shadow Hand vision env for (physics_backend, renderer, data_type); step once, yield, close.""" + """Build Shadow Hand vision env for (physics_backend, renderer, data_type); reset, yield, close.""" from isaaclab_tasks.direct.shadow_hand.shadow_hand_vision_env import ShadowHandVisionEnv from isaaclab_tasks.direct.shadow_hand.shadow_hand_vision_env_cfg import ShadowHandVisionEnvCfg @@ -673,7 +670,7 @@ def test_shadow_hand(shadow_hand_env): @pytest.fixture(params=_PHYSICS_RENDERER_AOV_COMBINATIONS) def cartpole_env(request): - """Build Cartpole camera env for (physics_backend, renderer, data_type); step once, yield, close.""" + """Build Cartpole camera env for (physics_backend, renderer, data_type); reset, yield, close.""" from isaaclab_tasks.direct.cartpole.cartpole_camera_env import CartpoleCameraEnv from isaaclab_tasks.direct.cartpole.cartpole_camera_presets_env_cfg import CartpoleCameraPresetsEnvCfg @@ -717,7 +714,7 @@ def test_cartpole(cartpole_env): @pytest.fixture(params=_PHYSICS_RENDERER_AOV_COMBINATIONS) def dexsuite_kuka_allegro_lift_env(request): - """Build Dexsuite Kuka-Allegro Lift (single camera) for backend/renderer/data_type; step once, yield, close.""" + """Build Dexsuite Kuka-Allegro Lift (single camera) for backend/renderer/data_type; reset, yield, close.""" from isaaclab.envs import ManagerBasedRLEnv from isaaclab_tasks.manager_based.manipulation.dexsuite.config.kuka_allegro.dexsuite_kuka_allegro_env_cfg import ( From 6c0a17c1ed8b160b27655d7544807764d64e17c0 Mon Sep 17 00:00:00 2001 From: HuiDong Chen Date: Sat, 4 Apr 2026 12:40:03 +0800 Subject: [PATCH 2/3] new golden image due to cartpole slider upscaling change --- .../newton-isaacsim_rtx_renderer-albedo.png | Bin 374 -> 435 bytes .../newton-isaacsim_rtx_renderer-depth.png | Bin 360 -> 422 bytes .../newton-isaacsim_rtx_renderer-rgb.png | Bin 2948 -> 3513 bytes .../newton-isaacsim_rtx_renderer-rgba.png | Bin 3272 -> 3927 bytes ...sim_rtx_renderer-semantic_segmentation.png | Bin 384 -> 427 bytes ...nderer-simple_shading_constant_diffuse.png | Bin 386 -> 460 bytes ...tx_renderer-simple_shading_diffuse_mdl.png | Bin 386 -> 460 bytes ...m_rtx_renderer-simple_shading_full_mdl.png | Bin 386 -> 460 bytes .../cartpole/newton-newton_renderer-depth.png | Bin 551 -> 692 bytes .../cartpole/newton-newton_renderer-rgb.png | Bin 474 -> 528 bytes .../cartpole/newton-newton_renderer-rgba.png | Bin 521 -> 590 bytes .../physx-isaacsim_rtx_renderer-albedo.png | Bin 477 -> 540 bytes .../physx-isaacsim_rtx_renderer-depth.png | Bin 456 -> 519 bytes .../physx-isaacsim_rtx_renderer-rgb.png | Bin 2177 -> 3860 bytes .../physx-isaacsim_rtx_renderer-rgba.png | Bin 2391 -> 4300 bytes ...sim_rtx_renderer-semantic_segmentation.png | Bin 482 -> 522 bytes ...nderer-simple_shading_constant_diffuse.png | Bin 507 -> 583 bytes ...tx_renderer-simple_shading_diffuse_mdl.png | Bin 507 -> 583 bytes ...m_rtx_renderer-simple_shading_full_mdl.png | Bin 507 -> 583 bytes .../cartpole/physx-newton_renderer-depth.png | Bin 551 -> 692 bytes .../cartpole/physx-newton_renderer-rgb.png | Bin 510 -> 598 bytes .../cartpole/physx-newton_renderer-rgba.png | Bin 554 -> 657 bytes ...efault_physics-default_renderer-albedo.png | Bin 491 -> 553 bytes .../default_physics-default_renderer-rgb.png | Bin 2177 -> 3809 bytes .../default_physics-default_renderer-rgba.png | Bin 2391 -> 4226 bytes ...default_physics-default_renderer-depth.png | Bin 456 -> 519 bytes .../default_physics-default_renderer-rgb.png | Bin 2177 -> 3812 bytes .../default_physics-default_renderer-rgba.png | Bin 2391 -> 4225 bytes ...nderer-simple_shading_constant_diffuse.png | Bin 519 -> 596 bytes ...lt_renderer-simple_shading_diffuse_mdl.png | Bin 519 -> 596 bytes ...fault_renderer-simple_shading_full_mdl.png | Bin 519 -> 596 bytes .../test/test_rendering_correctness.py | 4 +++- 32 files changed, 3 insertions(+), 1 deletion(-) mode change 100755 => 100644 source/isaaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-rgb.png mode change 100755 => 100644 source/isaaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-rgba.png mode change 100755 => 100644 source/isaaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-simple_shading_constant_diffuse.png mode change 100755 => 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83008d82ece..86954a9dab5 100644 --- a/source/isaaclab_tasks/test/test_rendering_correctness.py +++ b/source/isaaclab_tasks/test/test_rendering_correctness.py @@ -374,8 +374,10 @@ def _generate_html_report() -> None: "ACTUAL" "GOLDEN" "\n" - "\n" + "\n".join(rows) + "\n\n\n\n\n" + "\n" + "\n".join(rows) + "\n\n\n" f"

Generated: {datetime.now().astimezone().isoformat(timespec='seconds')}.

\n" + "\n" + "\n" ) with open(report_path, "w", encoding="utf-8") as f: From 7ce7087a966070c778dbbdbcd39e0047993ab6df Mon Sep 17 00:00:00 2001 From: HuiDong Chen Date: Sat, 4 Apr 2026 18:50:22 +0800 Subject: [PATCH 3/3] fix doc build error: ``` docs/source/policy_deployment/04_reach/reach_policy.rst:670: WARNING: undefined label: 'sim2real' [ref.ref] ``` --- docs/source/policy_deployment/00_hover/hover_policy.rst | 2 ++ 1 file changed, 2 insertions(+) diff --git a/docs/source/policy_deployment/00_hover/hover_policy.rst b/docs/source/policy_deployment/00_hover/hover_policy.rst index b7efd80a15e..d85453416e4 100644 --- a/docs/source/policy_deployment/00_hover/hover_policy.rst +++ b/docs/source/policy_deployment/00_hover/hover_policy.rst @@ -1,3 +1,5 @@ +.. _sim2real: + Training & Deploying HOVER Policy =================================