From 745f90a673d09097bd27c108fc21bdb695142ae0 Mon Sep 17 00:00:00 2001 From: Richard Lei Date: Wed, 10 Jun 2026 20:02:29 +1200 Subject: [PATCH 1/2] Add distance_to_camera and distance_to_image_plane camera presets to cartpole, dexsuite_kuka, and shadow_hand with test coverage. --- .../changelog.d/extend-test-distance-aovs.rst | 10 ++++++++ .../cartpole_direct_camera_env_cfg.py | 4 +++ .../cartpole_manager_camera_env_cfg.py | 4 +++ .../config/kuka_allegro/camera_cfg.py | 12 +++++++++ .../shadow_hand/shadow_hand_vision_env_cfg.py | 25 ++++++++++++++++++- ...aacsim_rtx_renderer-distance_to_camera.png | 3 +++ ...m_rtx_renderer-distance_to_image_plane.png | 3 +++ ...wton-ovrtx_renderer-distance_to_camera.png | 3 +++ ...ovrtx_renderer-distance_to_image_plane.png | 3 +++ ...hysx-ovrtx_renderer-distance_to_camera.png | 3 +++ ...ovrtx_renderer-distance_to_image_plane.png | 3 +++ ...aacsim_rtx_renderer-distance_to_camera.png | 3 +++ ...m_rtx_renderer-distance_to_image_plane.png | 3 +++ ...aacsim_rtx_renderer-distance_to_camera.png | 3 +++ ...m_rtx_renderer-distance_to_image_plane.png | 3 +++ ...wton-ovrtx_renderer-distance_to_camera.png | 3 +++ ...ovrtx_renderer-distance_to_image_plane.png | 3 +++ ...aacsim_rtx_renderer-distance_to_camera.png | 3 +++ ...m_rtx_renderer-distance_to_image_plane.png | 3 +++ ...aacsim_rtx_renderer-distance_to_camera.png | 3 +++ ...m_rtx_renderer-distance_to_image_plane.png | 3 +++ ...wton-ovrtx_renderer-distance_to_camera.png | 3 +++ ...ovrtx_renderer-distance_to_image_plane.png | 3 +++ ...aacsim_rtx_renderer-distance_to_camera.png | 3 +++ ...m_rtx_renderer-distance_to_image_plane.png | 3 +++ .../test/rendering_test_utils.py | 4 ++- 26 files changed, 117 insertions(+), 2 deletions(-) create mode 100644 source/isaaclab_tasks/changelog.d/extend-test-distance-aovs.rst create mode 100644 source/isaaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-distance_to_camera.png create mode 100644 source/isaaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-distance_to_image_plane.png create mode 100644 source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-distance_to_camera.png create mode 100644 source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-distance_to_image_plane.png create mode 100644 source/isaaclab_tasks/test/golden_images/cartpole/ovphysx-ovrtx_renderer-distance_to_camera.png create mode 100644 source/isaaclab_tasks/test/golden_images/cartpole/ovphysx-ovrtx_renderer-distance_to_image_plane.png create mode 100644 source/isaaclab_tasks/test/golden_images/cartpole/physx-isaacsim_rtx_renderer-distance_to_camera.png create mode 100644 source/isaaclab_tasks/test/golden_images/cartpole/physx-isaacsim_rtx_renderer-distance_to_image_plane.png create mode 100644 source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-distance_to_camera.png create mode 100644 source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-distance_to_image_plane.png create mode 100644 source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-distance_to_camera.png create mode 100644 source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-distance_to_image_plane.png create mode 100644 source/isaaclab_tasks/test/golden_images/dexsuite_kuka/physx-isaacsim_rtx_renderer-distance_to_camera.png create mode 100644 source/isaaclab_tasks/test/golden_images/dexsuite_kuka/physx-isaacsim_rtx_renderer-distance_to_image_plane.png create mode 100644 source/isaaclab_tasks/test/golden_images/shadow_hand/newton-isaacsim_rtx_renderer-distance_to_camera.png create mode 100644 source/isaaclab_tasks/test/golden_images/shadow_hand/newton-isaacsim_rtx_renderer-distance_to_image_plane.png create mode 100644 source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-distance_to_camera.png create mode 100644 source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-distance_to_image_plane.png create mode 100644 source/isaaclab_tasks/test/golden_images/shadow_hand/physx-isaacsim_rtx_renderer-distance_to_camera.png create mode 100644 source/isaaclab_tasks/test/golden_images/shadow_hand/physx-isaacsim_rtx_renderer-distance_to_image_plane.png diff --git a/source/isaaclab_tasks/changelog.d/extend-test-distance-aovs.rst b/source/isaaclab_tasks/changelog.d/extend-test-distance-aovs.rst new file mode 100644 index 000000000000..05ea622067de --- /dev/null +++ b/source/isaaclab_tasks/changelog.d/extend-test-distance-aovs.rst @@ -0,0 +1,10 @@ +Added +^^^^^ + +* Added ``distance_to_camera`` and ``distance_to_image_plane`` camera presets to + :class:`~isaaclab_tasks.core.cartpole.cartpole_direct_camera_env_cfg.CartpoleTiledCameraCfg`, + :class:`~isaaclab_tasks.core.cartpole.cartpole_manager_camera_env_cfg.CartpoleTiledCameraCfg`, + :class:`~isaaclab_tasks.core.dexsuite.config.kuka_allegro.camera_cfg.BaseTiledCameraCfg`, + :class:`~isaaclab_tasks.core.dexsuite.config.kuka_allegro.camera_cfg.WristTiledCameraCfg`, and + :class:`~isaaclab_tasks.core.shadow_hand.shadow_hand_vision_env_cfg.ShadowHandVisionTiledCameraCfg`, + enabling golden-image rendering tests for these depth-like AOV types. diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_camera_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_camera_env_cfg.py index 89cb2db922d2..8187e1249c8d 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_camera_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_camera_env_cfg.py @@ -34,6 +34,8 @@ class BaseCartpoleTiledCameraCfg(CameraCfg): default = BaseCartpoleTiledCameraCfg(data_types=["rgb"]) depth = BaseCartpoleTiledCameraCfg(data_types=["depth"]) + distance_to_camera = BaseCartpoleTiledCameraCfg(data_types=["distance_to_camera"]) + distance_to_image_plane = BaseCartpoleTiledCameraCfg(data_types=["distance_to_image_plane"]) albedo = BaseCartpoleTiledCameraCfg(data_types=["albedo"]) semantic_segmentation = BaseCartpoleTiledCameraCfg(data_types=["semantic_segmentation"]) simple_shading_constant_diffuse = BaseCartpoleTiledCameraCfg(data_types=["simple_shading_constant_diffuse"]) @@ -73,6 +75,8 @@ class BaseCartpoleCameraEnvCfg(CartpoleEnvCfg): default = BaseCartpoleCameraEnvCfg() depth = BaseCartpoleCameraEnvCfg(observation_space=[1, 100, 100]) + distance_to_camera = BaseCartpoleCameraEnvCfg(observation_space=[1, 100, 100]) + distance_to_image_plane = BaseCartpoleCameraEnvCfg(observation_space=[1, 100, 100]) albedo = BaseCartpoleCameraEnvCfg() semantic_segmentation = BaseCartpoleCameraEnvCfg(observation_space=[4, 100, 100]) simple_shading_constant_diffuse = BaseCartpoleCameraEnvCfg() diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_manager_camera_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_manager_camera_env_cfg.py index bd06fd78030b..1aa38d602797 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_manager_camera_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_manager_camera_env_cfg.py @@ -45,6 +45,8 @@ class BaseCartpoleTiledCameraCfg(CameraCfg): default = BaseCartpoleTiledCameraCfg(data_types=["rgb"]) depth = BaseCartpoleTiledCameraCfg(data_types=["depth"]) + distance_to_camera = BaseCartpoleTiledCameraCfg(data_types=["distance_to_camera"]) + distance_to_image_plane = BaseCartpoleTiledCameraCfg(data_types=["distance_to_image_plane"]) albedo = BaseCartpoleTiledCameraCfg(data_types=["albedo"]) semantic_segmentation = BaseCartpoleTiledCameraCfg(data_types=["semantic_segmentation"]) simple_shading_constant_diffuse = BaseCartpoleTiledCameraCfg(data_types=["simple_shading_constant_diffuse"]) @@ -167,6 +169,8 @@ def __post_init__(self): rgb = BaseCartpoleCameraEnvCfg(observations=image_observations_cfg("rgb")) depth = BaseCartpoleCameraEnvCfg(observations=image_observations_cfg("depth")) + distance_to_camera = BaseCartpoleCameraEnvCfg(observations=image_observations_cfg("distance_to_camera")) + distance_to_image_plane = BaseCartpoleCameraEnvCfg(observations=image_observations_cfg("distance_to_image_plane")) albedo = BaseCartpoleCameraEnvCfg(observations=image_observations_cfg("albedo")) semantic_segmentation = BaseCartpoleCameraEnvCfg(observations=image_observations_cfg("semantic_segmentation")) simple_shading_constant_diffuse = BaseCartpoleCameraEnvCfg( diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/dexsuite/config/kuka_allegro/camera_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/dexsuite/config/kuka_allegro/camera_cfg.py index 83e4564553e7..9df10eda3028 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/core/dexsuite/config/kuka_allegro/camera_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/core/dexsuite/config/kuka_allegro/camera_cfg.py @@ -109,6 +109,12 @@ class BaseTiledCameraCfg(PresetCfg): depth64 = BASE_CAMERA_CFG.replace(data_types=["depth"], width=64, height=64) depth128 = BASE_CAMERA_CFG.replace(data_types=["depth"], width=128, height=128) depth256 = BASE_CAMERA_CFG.replace(data_types=["depth"], width=256, height=256) + distance_to_camera64 = BASE_CAMERA_CFG.replace(data_types=["distance_to_camera"], width=64, height=64) + distance_to_camera128 = BASE_CAMERA_CFG.replace(data_types=["distance_to_camera"], width=128, height=128) + distance_to_camera256 = BASE_CAMERA_CFG.replace(data_types=["distance_to_camera"], width=256, height=256) + distance_to_image_plane64 = BASE_CAMERA_CFG.replace(data_types=["distance_to_image_plane"], width=64, height=64) + distance_to_image_plane128 = BASE_CAMERA_CFG.replace(data_types=["distance_to_image_plane"], width=128, height=128) + distance_to_image_plane256 = BASE_CAMERA_CFG.replace(data_types=["distance_to_image_plane"], width=256, height=256) albedo64 = BASE_CAMERA_CFG.replace(data_types=["albedo"], width=64, height=64) albedo128 = BASE_CAMERA_CFG.replace(data_types=["albedo"], width=128, height=128) albedo256 = BASE_CAMERA_CFG.replace(data_types=["albedo"], width=256, height=256) @@ -180,6 +186,12 @@ class WristTiledCameraCfg(PresetCfg): semantic_segmentation64 = WRIST_CAMERA_CFG.replace(data_types=["semantic_segmentation"], width=64, height=64) semantic_segmentation128 = WRIST_CAMERA_CFG.replace(data_types=["semantic_segmentation"], width=128, height=128) semantic_segmentation256 = WRIST_CAMERA_CFG.replace(data_types=["semantic_segmentation"], width=256, height=256) + distance_to_camera64 = WRIST_CAMERA_CFG.replace(data_types=["distance_to_camera"], width=64, height=64) + distance_to_camera128 = WRIST_CAMERA_CFG.replace(data_types=["distance_to_camera"], width=128, height=128) + distance_to_camera256 = WRIST_CAMERA_CFG.replace(data_types=["distance_to_camera"], width=256, height=256) + distance_to_image_plane64 = WRIST_CAMERA_CFG.replace(data_types=["distance_to_image_plane"], width=64, height=64) + distance_to_image_plane128 = WRIST_CAMERA_CFG.replace(data_types=["distance_to_image_plane"], width=128, height=128) + distance_to_image_plane256 = WRIST_CAMERA_CFG.replace(data_types=["distance_to_image_plane"], width=256, height=256) # raycaster camera presets raycaster_depth64 = WRIST_RAYCASTER_CAMERA_CFG.replace(pattern_cfg=RAY_PATTERN.replace(width=64, height=64)) raycaster_depth128 = WRIST_RAYCASTER_CAMERA_CFG.replace(pattern_cfg=RAY_PATTERN.replace(width=128, height=128)) diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/shadow_hand/shadow_hand_vision_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/shadow_hand/shadow_hand_vision_env_cfg.py index 8a6901c0239b..efa0f1d48c7d 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/core/shadow_hand/shadow_hand_vision_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/core/shadow_hand/shadow_hand_vision_env_cfg.py @@ -103,6 +103,26 @@ class ShadowHandVisionTiledCameraCfg(PresetCfg): presets=depth,ovrtx_renderer # depth rendering with OVRTX renderer """ + distance_to_camera: _ShadowHandBaseTiledCameraCfg = _ShadowHandBaseTiledCameraCfg(data_types=["distance_to_camera"]) + """Distance to camera [m] (1 channel). + + .. warning:: + This preset is intended for **benchmarking only**. The keypoint-regression CNN + cannot be meaningfully trained from depth alone. Use it with + :class:`ShadowHandVisionBenchmarkEnvCfg` (``feature_extractor.enabled=False``). + """ + + distance_to_image_plane: _ShadowHandBaseTiledCameraCfg = _ShadowHandBaseTiledCameraCfg( + data_types=["distance_to_image_plane"] + ) + """Distance to image plane [m] (1 channel). + + .. warning:: + This preset is intended for **benchmarking only**. The keypoint-regression CNN + cannot be meaningfully trained from depth alone. Use it with + :class:`ShadowHandVisionBenchmarkEnvCfg` (``feature_extractor.enabled=False``). + """ + semantic_segmentation: _ShadowHandBaseTiledCameraCfg = _ShadowHandBaseTiledCameraCfg( data_types=["semantic_segmentation"] ) @@ -135,7 +155,10 @@ def validate_config(self): "Choose a compatible preset, e.g. presets=newton_renderer,rgb." ) - if set(self.tiled_camera.data_types) == {"depth"} and self.feature_extractor.enabled: + non_depth_data_types = set(self.tiled_camera.data_types).difference( + {"depth", "distance_to_image_plane", "distance_to_camera"} + ) + if self.tiled_camera.data_types and not non_depth_data_types and self.feature_extractor.enabled: raise ValueError( "Depth-only camera data type is intended for benchmarking only. " "The keypoint-regression CNN cannot be meaningfully trained from depth alone. " diff --git a/source/isaaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-distance_to_camera.png b/source/isaaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-distance_to_camera.png new file mode 100644 index 000000000000..0a26486d7f85 --- /dev/null +++ b/source/isaaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-distance_to_camera.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8929af0b155ac73e4dd74dd70dbc502fb78bd962248e5c46f88972a0a7e3e80e +size 538 diff --git a/source/isaaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-distance_to_image_plane.png b/source/isaaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-distance_to_image_plane.png new file mode 100644 index 000000000000..0387686a7a78 --- /dev/null +++ b/source/isaaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-distance_to_image_plane.png @@ -0,0 +1,3 @@ +version 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b/source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-distance_to_image_plane.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea4e6ba2251666e4df0c937fbd123489f2a06939bda9e674d5f84eb5c8831f7d +size 422 diff --git a/source/isaaclab_tasks/test/golden_images/cartpole/ovphysx-ovrtx_renderer-distance_to_camera.png b/source/isaaclab_tasks/test/golden_images/cartpole/ovphysx-ovrtx_renderer-distance_to_camera.png new file mode 100644 index 000000000000..0387686a7a78 --- /dev/null +++ b/source/isaaclab_tasks/test/golden_images/cartpole/ovphysx-ovrtx_renderer-distance_to_camera.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea4e6ba2251666e4df0c937fbd123489f2a06939bda9e674d5f84eb5c8831f7d +size 422 diff --git a/source/isaaclab_tasks/test/golden_images/cartpole/ovphysx-ovrtx_renderer-distance_to_image_plane.png b/source/isaaclab_tasks/test/golden_images/cartpole/ovphysx-ovrtx_renderer-distance_to_image_plane.png new file 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sha256:d249747e56b41ada8e507c138979791ef6f558043eb23c9f65d6826220eac5f1 +size 3752 diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-isaacsim_rtx_renderer-distance_to_camera.png b/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-isaacsim_rtx_renderer-distance_to_camera.png new file mode 100644 index 000000000000..33014f4d71fb --- /dev/null +++ b/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-isaacsim_rtx_renderer-distance_to_camera.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d296eb39b225fc9135e2a62108ff1b6983d54feabb103c7b7cbb5d3da93fe6b +size 4041 diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-isaacsim_rtx_renderer-distance_to_image_plane.png b/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-isaacsim_rtx_renderer-distance_to_image_plane.png new file mode 100644 index 000000000000..c229b583dfb7 --- /dev/null +++ b/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-isaacsim_rtx_renderer-distance_to_image_plane.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a37f6bca30bb2d093eb68186c601551d52aafe8ed19c6c090de149b3210d81a5 +size 3665 diff --git a/source/isaaclab_tasks/test/rendering_test_utils.py b/source/isaaclab_tasks/test/rendering_test_utils.py index c37e287fa51c..7a05580845cd 100644 --- a/source/isaaclab_tasks/test/rendering_test_utils.py +++ b/source/isaaclab_tasks/test/rendering_test_utils.py @@ -81,6 +81,8 @@ "simple_shading_full_mdl", "semantic_segmentation", "depth", + "distance_to_camera", + "distance_to_image_plane", ) @@ -632,7 +634,7 @@ def rendering_test_shadow_hand( if renderer == "ovrtx_renderer": _redirect_ovrtx_renderer_log_to_stdout(env_cfg) - if data_type == "depth": + if data_type in {"depth", "distance_to_camera", "distance_to_image_plane"}: # Disable CNN forward pass as it cannot be meaningfully trained from depth alone and will raise a ValueError. env_cfg.feature_extractor.enabled = False From 781934b649eaef9213b0bffc05439fd6fadcbb0a Mon Sep 17 00:00:00 2001 From: Richard Lei Date: Wed, 10 Jun 2026 20:06:29 +1200 Subject: [PATCH 2/2] Added Richard Lei to CONTRIBUTORS.md --- CONTRIBUTORS.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md index 90afb3b4c5dd..7d3dabbbbee6 100644 --- a/CONTRIBUTORS.md +++ b/CONTRIBUTORS.md @@ -159,6 +159,7 @@ Guidelines for modifications: * Rafael Wiltz * Renaud Poncelet * René Zurbrügg +* Richard Lei * Richard Schmitt * RinZ27 * Ritvik Singh