Implementation:ARISE Initiative Robosuite TextureModder

Metadata:

Overview

Concrete class for randomizing textures and material properties in MuJoCo simulations provided by the robosuite modding utilities.

Description

TextureModder modifies geom textures and materials in MuJoCo simulations. It supports four variation types: rgb, checker, noise, and gradient. The class can also randomize the skybox texture for environmental variation.

The class inherits from BaseModder and implements the standard modding interface:

save_defaults(): Saves original texture and material properties
restore_defaults(): Restores saved original properties
randomize(): Applies random texture variations

For full texture effect, materials should be whitened first (setting reflectance to white and shininess/specular to appropriate values) so that applied textures are not tinted by existing material colors.

Usage

TextureModder is used internally by DomainRandomizationWrapper to provide texture randomization as part of the domain randomization pipeline. It can also be used standalone for custom randomization strategies when more fine-grained control over the randomization process is needed.

Code Reference

Source: robosuite

File: robosuite/utils/mjmod.py

Lines: L782-1366

Signature:

class TextureModder(BaseModder):
    def __init__(self, sim, random_state=None, geom_names=None, randomize_local=False,
                 randomize_material=False, local_rgb_interpolation=0.1,
                 local_material_interpolation=0.2,
                 texture_variations=("rgb", "checker", "noise", "gradient"),
                 randomize_skybox=True):
        """
        Args:
            sim (MjSim): MuJoCo simulation instance
            random_state (RandomState): Random state for reproducibility
            geom_names (list): List of geom names to randomize (None for all)
            randomize_local (bool): Interpolate between original and random colors
            randomize_material (bool): Also randomize material properties
            local_rgb_interpolation (float): Interpolation weight for local RGB mode
            local_material_interpolation (float): Interpolation weight for local material mode
            texture_variations (tuple): Types of texture variations to apply
            randomize_skybox (bool): Whether to randomize skybox texture
        """

Import:

from robosuite.utils.mjmod import TextureModder

I/O Contract

Inputs

Parameter	Type	Required	Default	Description
sim	MjSim	Yes	N/A	MuJoCo simulation instance to modify
random_state	RandomState	No	None	Random state for reproducible randomization
geom_names	list	No	None	List of geom names to randomize; if None, all geoms are randomized
randomize_local	bool	No	False	If True, interpolate between original and random colors
randomize_material	bool	No	False	If True, also randomize material properties
local_rgb_interpolation	float	No	0.1	Interpolation weight for local RGB mode (0.0 to 1.0)
local_material_interpolation	float	No	0.2	Interpolation weight for local material mode (0.0 to 1.0)
texture_variations	tuple	No	("rgb", "checker", "noise", "gradient")	Types of texture variations to apply
randomize_skybox	bool	No	True	Whether to randomize skybox texture

Methods

randomize(): Applies random texture variations to the specified geoms according to the configuration
save_defaults(): Saves the original texture and material properties before randomization
restore_defaults(): Restores the saved original properties

Usage Examples

Standalone Usage

import numpy as np
from mujoco_py import MjSim
from robosuite.utils.mjmod import TextureModder

# Create simulation
sim = MjSim(model)

# Create texture modder with specific geoms
texture_modder = TextureModder(
    sim=sim,
    random_state=np.random.RandomState(42),
    geom_names=["table_visual", "cube_visual"],
    randomize_local=True,
    randomize_material=True,
    local_rgb_interpolation=0.2,
    texture_variations=("rgb", "checker", "noise")
)

# Save original state
texture_modder.save_defaults()

# Apply randomization
texture_modder.randomize()

# ... run simulation ...

# Restore original textures
texture_modder.restore_defaults()

Usage via DomainRandomizationWrapper

import robosuite as suite
from robosuite.wrappers import DomainRandomizationWrapper

# Create environment
env = suite.make(
    "Lift",
    robots="Panda",
    has_renderer=True,
    has_offscreen_renderer=False,
    use_camera_obs=False,
)

# Wrap with domain randomization
env = DomainRandomizationWrapper(
    env,
    seed=123,
    randomize_every_n_steps=100,
    randomize_texture=True,
    texture_randomization_kwargs={
        "randomize_local": True,
        "randomize_material": True,
        "local_rgb_interpolation": 0.15,
        "local_material_interpolation": 0.25,
        "texture_variations": ("rgb", "checker", "noise", "gradient"),
        "randomize_skybox": True,
    }
)

# Reset applies texture randomization
env.reset()

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