Add variation system base. Part 2/3, CLI configuration via hydra.#755
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Introduce the variation framework: a VariationBase with build-time and run-time flavors, a SamplerBase abstraction with uniform and categorical samplers, and two concrete variations -- HDR dome-light image selection (build-time) and camera extrinsic decalibration (run-time). Variations attach to any Asset (scene objects or embodiments) and are collected by ArenaEnvBuilder, which applies build-time variations before scene composition and folds run-time variations into the event manager cfg. All variations default to disabled so existing envs are unchanged. The variations package exposes its API lazily (PEP 562 __getattr__): camera_decalibration pulls in torch and isaaclab.sensors, and importing that pair before the SimulationApp launches corrupts USD's Python bindings. Lazy exports keep importing the package -- or its lightweight base/sampler submodules -- safe at module-load time (e.g. pytest collection). Signed-off-by: alex <amillane@nvidia.com>
- Rename camera_decalibration.py -> camera_decalibration_variation.py - Drop package-level re-exports; import concrete classes from submodules - Remove sampler/variation listener plumbing (deferred to a follow-up MR) - Hoist a compulsory sampler_cfg field onto VariationBaseCfg and rename the per-variation sampler field to sampler_cfg - Replace UniformSampler.event_shape with an abstract SamplerBase.shape_per_sample - Drop the camera variation's unused mode field (all variations fire on reset) - Move attribute docs onto each member and trim docstrings to one line Signed-off-by: alex <amillane@nvidia.com>
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Partial self review.
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Clean, solid as always! |
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Summary
Add Hydra based configuration of variations from the CLI.
Detailed description
Not covered
eval_runner.pyand correspondingly not integrated in the config file there. That will be introduced after Part 3/3.