Benchmark Usage

The configuration for randomization can be found at metasim.cfg.randomization. The configuration is as follows:

@configclass
class RandomizationCfg:
    """Randomization configuration."""

    camera: bool = False
    """Randomize camera pose"""
    light: bool = False
    """Randomize light direction, temperature, intensity"""
    ground: bool = False
    """Randomize ground"""
    reflection: bool = False
    """Randomize reflection (roughness, metallic, reflectance), attach random diffuse color to surfaces that have no material"""
    table: bool = False
    """Randomize table albedo"""
    wall: bool = False
    """Add wall and roof, randomize wall"""
    scene: bool = False
    """Randomize scene"""
    level: Literal[0, 1, 2, 3] = 0
    """Randomization level"""

    def __post_init__(self):
        """Post-initialization configuration."""
        assert self.level in [0, 1, 2, 3]
        if self.level >= 0:
            pass
        if self.level >= 1:
            self.table = True
            self.ground = True
            self.wall = True
        if self.level >= 2:
            self.camera = True
        if self.level >= 3:
            self.light = True
            self.reflection = True

Without the need for knowing the details of randomized evaluation, you can simply define the level of randomization with numbers 0-3, and use the randomization config inside of a scenario config:

randomization = RandomizationCfg(
    camera=False, light=False, ground=False, reflection=False
)
scenario = ScenarioCfg(
    task=task,
    robot=robot,
    cameras=[camera],
    randomization=randomization,
    try_add_table=True
)

And the instantiated environment will be automatically randomized!