isaac-sim · huidongc · Apr 4, 2026 · Apr 4, 2026 · Apr 4, 2026 · Apr 4, 2026
@@ -1,3 +1,5 @@
+.. _sim2real:
+
 Training & Deploying HOVER Policy
 =================================
 

diff --git a/...aclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-albedo.png b/...aclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-albedo.png
diff --git a/...aaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-depth.png b/...aaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-depth.png
diff --git a/...isaaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-rgb.png b/...isaaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-rgb.png
diff --git a/...saaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-rgba.png b/...saaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-rgba.png
diff --git a/...t/golden_images/cartpole/newton-isaacsim_rtx_renderer-semantic_segmentation.png b/...t/golden_images/cartpole/newton-isaacsim_rtx_renderer-semantic_segmentation.png
diff --git a/...mages/cartpole/newton-isaacsim_rtx_renderer-simple_shading_constant_diffuse.png b/...mages/cartpole/newton-isaacsim_rtx_renderer-simple_shading_constant_diffuse.png
diff --git a/...den_images/cartpole/newton-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png b/...den_images/cartpole/newton-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png
diff --git a/...golden_images/cartpole/newton-isaacsim_rtx_renderer-simple_shading_full_mdl.png b/...golden_images/cartpole/newton-isaacsim_rtx_renderer-simple_shading_full_mdl.png
diff --git a/source/isaaclab_tasks/test/golden_images/cartpole/newton-newton_renderer-depth.png b/source/isaaclab_tasks/test/golden_images/cartpole/newton-newton_renderer-depth.png
diff --git a/source/isaaclab_tasks/test/golden_images/cartpole/newton-newton_renderer-rgb.png b/source/isaaclab_tasks/test/golden_images/cartpole/newton-newton_renderer-rgb.png
diff --git a/source/isaaclab_tasks/test/golden_images/cartpole/newton-newton_renderer-rgba.png b/source/isaaclab_tasks/test/golden_images/cartpole/newton-newton_renderer-rgba.png
diff --git a/...aaclab_tasks/test/golden_images/cartpole/physx-isaacsim_rtx_renderer-albedo.png b/...aaclab_tasks/test/golden_images/cartpole/physx-isaacsim_rtx_renderer-albedo.png
diff --git a/...saaclab_tasks/test/golden_images/cartpole/physx-isaacsim_rtx_renderer-depth.png b/...saaclab_tasks/test/golden_images/cartpole/physx-isaacsim_rtx_renderer-depth.png
diff --git a/.../isaaclab_tasks/test/golden_images/cartpole/physx-isaacsim_rtx_renderer-rgb.png b/.../isaaclab_tasks/test/golden_images/cartpole/physx-isaacsim_rtx_renderer-rgb.png
diff --git a/...isaaclab_tasks/test/golden_images/cartpole/physx-isaacsim_rtx_renderer-rgba.png b/...isaaclab_tasks/test/golden_images/cartpole/physx-isaacsim_rtx_renderer-rgba.png
diff --git a/...st/golden_images/cartpole/physx-isaacsim_rtx_renderer-semantic_segmentation.png b/...st/golden_images/cartpole/physx-isaacsim_rtx_renderer-semantic_segmentation.png
diff --git a/...images/cartpole/physx-isaacsim_rtx_renderer-simple_shading_constant_diffuse.png b/...images/cartpole/physx-isaacsim_rtx_renderer-simple_shading_constant_diffuse.png
diff --git a/...lden_images/cartpole/physx-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png b/...lden_images/cartpole/physx-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png
diff --git a/.../golden_images/cartpole/physx-isaacsim_rtx_renderer-simple_shading_full_mdl.png b/.../golden_images/cartpole/physx-isaacsim_rtx_renderer-simple_shading_full_mdl.png
diff --git a/source/isaaclab_tasks/test/golden_images/cartpole/physx-newton_renderer-depth.png b/source/isaaclab_tasks/test/golden_images/cartpole/physx-newton_renderer-depth.png
diff --git a/source/isaaclab_tasks/test/golden_images/cartpole/physx-newton_renderer-rgb.png b/source/isaaclab_tasks/test/golden_images/cartpole/physx-newton_renderer-rgb.png
diff --git a/source/isaaclab_tasks/test/golden_images/cartpole/physx-newton_renderer-rgba.png b/source/isaaclab_tasks/test/golden_images/cartpole/physx-newton_renderer-rgba.png
diff --git a/...ac-Cartpole-Albedo-Camera-Direct-v0/default_physics-default_renderer-albedo.png b/...ac-Cartpole-Albedo-Camera-Direct-v0/default_physics-default_renderer-albedo.png
diff --git a/...saac-Cartpole-Camera-Presets-Direct-v0/default_physics-default_renderer-rgb.png b/...saac-Cartpole-Camera-Presets-Direct-v0/default_physics-default_renderer-rgb.png
diff --git a/...aac-Cartpole-Camera-Presets-Direct-v0/default_physics-default_renderer-rgba.png b/...aac-Cartpole-Camera-Presets-Direct-v0/default_physics-default_renderer-rgba.png
diff --git a/...saac-Cartpole-Depth-Camera-Direct-v0/default_physics-default_renderer-depth.png b/...saac-Cartpole-Depth-Camera-Direct-v0/default_physics-default_renderer-depth.png
diff --git a/...ks/Isaac-Cartpole-RGB-Camera-Direct-v0/default_physics-default_renderer-rgb.png b/...ks/Isaac-Cartpole-RGB-Camera-Direct-v0/default_physics-default_renderer-rgb.png
diff --git a/...s/Isaac-Cartpole-RGB-Camera-Direct-v0/default_physics-default_renderer-rgba.png b/...s/Isaac-Cartpole-RGB-Camera-Direct-v0/default_physics-default_renderer-rgba.png
diff --git a/...-Direct-v0/default_physics-default_renderer-simple_shading_constant_diffuse.png b/...-Direct-v0/default_physics-default_renderer-simple_shading_constant_diffuse.png
diff --git a/...amera-Direct-v0/default_physics-default_renderer-simple_shading_diffuse_mdl.png b/...amera-Direct-v0/default_physics-default_renderer-simple_shading_diffuse_mdl.png
diff --git a/...l-Camera-Direct-v0/default_physics-default_renderer-simple_shading_full_mdl.png b/...l-Camera-Direct-v0/default_physics-default_renderer-simple_shading_full_mdl.png
diff --git 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.
@@ -374,8 +374,10 @@ def _generate_html_report() -> None:
         "<th>ACTUAL</th>"
         "<th>GOLDEN</th>"
         "</tr></thead>\n"
-        "<tbody>\n" + "\n".join(rows) + "\n</tbody>\n</table>\n</body>\n</html>\n"
+        "<tbody>\n" + "\n".join(rows) + "\n</tbody>\n</table>\n"
         f"<p>Generated:&nbsp;{datetime.now().astimezone().isoformat(timespec='seconds')}.</p>\n"
+        "</body>\n"
+        "</html>\n"
     )
 
     with open(report_path, "w", encoding="utf-8") as f:
@@ -577,15 +579,12 @@ 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 +624,7 @@ 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 +672,7 @@ 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 +716,7 @@ 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 (