Replaces randomization of texture to functional (#452)

Enables the new replicator functional API path for color and texture
randomization for Isaac Sim 5.0. For backwards compatibility with Isaac
Sim 4.5, we maintain the previous omni.graph code path for 4.5 use.

- New feature (non-breaking change which adds functionality)

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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---------
Signed-off-by: jiehanw <jiehanw@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.42.22"
+version = "0.42.23"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
-0.42.22 (2025-06-25)
+0.42.23 (2025-06-25)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -12,7 +12,7 @@ Added
   env instance
 
 
-0.42.21 (2025-07-11)
+0.42.22 (2025-07-11)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -22,7 +22,7 @@ Fixed
 restricting the resetting joint indices be that user defined joint indices.
 
 
-0.42.20 (2025-07-11)
+0.42.21 (2025-07-11)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -32,7 +32,7 @@ Fixed
   env_ids are passed.
 
 
-0.42.19 (2025-07-09)
+0.42.20 (2025-07-09)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -49,7 +49,7 @@ Fixed
   buffer on recording.
 
 
-0.42.18 (2025-07-10)
+0.42.19 (2025-07-10)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -80,6 +80,15 @@ Changed
 * Changed the implementation of :func:`~isaaclab.utils.math.copysign` to better reflect the documented functionality.
 
 
+0.42.18 (2025-07-09)
+~~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Changed texture and color randomization to use new replicator functional APIs.
+
+
 0.42.17 (2025-07-08)
 ~~~~~~~~~~~~~~~~~~~~
 
@@ -119,7 +128,7 @@ Fixed
 * Fixed unittest tests that are floating inside pytests for articulation and rendering
 
 
-0.42.13 (2025-07-03)
+0.42.13 (2025-07-07)
 ~~~~~~~~~~~~~~~~~~~~
 
 Changed

source/isaaclab/isaaclab/utils/__init__.py

@@ -14,3 +14,4 @@ from .modifiers import *
 from .string import *
 from .timer import Timer
 from .types import *
+from .version import *

source/isaaclab/isaaclab/utils/version.py

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Utility function for version comparison."""
+
+
+def compare_versions(v1: str, v2: str) -> int:
+    parts1 = list(map(int, v1.split(".")))
+    parts2 = list(map(int, v2.split(".")))
+
+    # Pad the shorter version with zeros (e.g. 1.2 vs 1.2.0)
+    length = max(len(parts1), len(parts2))
+    parts1 += [0] * (length - len(parts1))
+    parts2 += [0] * (length - len(parts2))
+
+    if parts1 > parts2:
+        return 1  # v1 is greater
+    elif parts1 < parts2:
+        return -1  # v2 is greater
+    else:
+        return 0  # versions are equal

source/isaaclab/test/envs/test_color_randomization.py

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""
+This script tests the functionality of texture randomization applied to the cartpole scene.
+"""
+
+"""Launch Isaac Sim Simulator first."""
+
+from isaaclab.app import AppLauncher
+
+# launch omniverse app
+app_launcher = AppLauncher(headless=True, enable_cameras=True)
+simulation_app = app_launcher.app
+
+"""Rest everything follows."""
+
+import math
+import torch
+
+import omni.usd
+import pytest
+from isaacsim.core.version import get_version
+
+import isaaclab.envs.mdp as mdp
+from isaaclab.envs import ManagerBasedEnv, ManagerBasedEnvCfg
+from isaaclab.managers import EventTermCfg as EventTerm
+from isaaclab.managers import ObservationGroupCfg as ObsGroup
+from isaaclab.managers import ObservationTermCfg as ObsTerm
+from isaaclab.managers import SceneEntityCfg
+from isaaclab.utils import configclass
+
+from isaaclab_tasks.manager_based.classic.cartpole.cartpole_env_cfg import CartpoleSceneCfg
+
+
+@configclass
+class ActionsCfg:
+    """Action specifications for the environment."""
+
+    joint_efforts = mdp.JointEffortActionCfg(asset_name="robot", joint_names=["slider_to_cart"], scale=5.0)
+
+
+@configclass
+class ObservationsCfg:
+    """Observation specifications for the environment."""
+
+    @configclass
+    class PolicyCfg(ObsGroup):
+        """Observations for policy group."""
+
+        # observation terms (order preserved)
+        joint_pos_rel = ObsTerm(func=mdp.joint_pos_rel)
+        joint_vel_rel = ObsTerm(func=mdp.joint_vel_rel)
+
+        def __post_init__(self) -> None:
+            self.enable_corruption = False
+            self.concatenate_terms = True
+
+    # observation groups
+    policy: PolicyCfg = PolicyCfg()
+
+
+@configclass
+class EventCfg:
+    """Configuration for events."""
+
+    # on prestartup apply a new set of textures
+    # note from @mayank: Changed from 'reset' to 'prestartup' to make test pass.
+    #   The error happens otherwise on Kit thread which is not the main thread.
+    cart_texture_randomizer = EventTerm(
+        func=mdp.randomize_visual_color,
+        mode="prestartup",
+        params={
+            "asset_cfg": SceneEntityCfg("robot", body_names=["cart"]),
+            "colors": {"r": (0.0, 1.0), "g": (0.0, 1.0), "b": (0.0, 1.0)},
+            "event_name": "cart_color_randomizer",
+        },
+    )
+
+    # on reset apply a new set of textures
+    pole_texture_randomizer = EventTerm(
+        func=mdp.randomize_visual_color,
+        mode="reset",
+        params={
+            "asset_cfg": SceneEntityCfg("robot", body_names=["pole"]),
+            "colors": {"r": (0.0, 1.0), "g": (0.0, 1.0), "b": (0.0, 1.0)},
+            "event_name": "pole_color_randomizer",
+        },
+    )
+
+    reset_cart_position = EventTerm(
+        func=mdp.reset_joints_by_offset,
+        mode="reset",
+        params={
+            "asset_cfg": SceneEntityCfg("robot", joint_names=["slider_to_cart"]),
+            "position_range": (-1.0, 1.0),
+            "velocity_range": (-0.1, 0.1),
+        },
+    )
+
+    reset_pole_position = EventTerm(
+        func=mdp.reset_joints_by_offset,
+        mode="reset",
+        params={
+            "asset_cfg": SceneEntityCfg("robot", joint_names=["cart_to_pole"]),
+            "position_range": (-0.125 * math.pi, 0.125 * math.pi),
+            "velocity_range": (-0.01 * math.pi, 0.01 * math.pi),
+        },
+    )
+
+
+@configclass
+class CartpoleEnvCfg(ManagerBasedEnvCfg):
+    """Configuration for the cartpole environment."""
+
+    # Scene settings
+    scene = CartpoleSceneCfg(env_spacing=2.5)
+
+    # Basic settings
+    actions = ActionsCfg()
+    observations = ObservationsCfg()
+    events = EventCfg()
+
+    def __post_init__(self):
+        """Post initialization."""
+        # viewer settings
+        self.viewer.eye = [4.5, 0.0, 6.0]
+        self.viewer.lookat = [0.0, 0.0, 2.0]
+        # step settings
+        self.decimation = 4  # env step every 4 sim steps: 200Hz / 4 = 50Hz
+        # simulation settings
+        self.sim.dt = 0.005  # sim step every 5ms: 200Hz
+
+
+@pytest.mark.parametrize("device", ["cpu", "cuda"])
+def test_color_randomization(device):
+    """Test color randomization for cartpole environment."""
+    # skip test if stage in memory is not supported
+    isaac_sim_version = float(".".join(get_version()[2]))
+    if isaac_sim_version < 5:
+        pytest.skip("Color randomization test hangs in this version of Isaac Sim")
+
+    # Create a new stage
+    omni.usd.get_context().new_stage()
+
+    try:
+        # Set the arguments
+        env_cfg = CartpoleEnvCfg()
+        env_cfg.scene.num_envs = 16
+        env_cfg.scene.replicate_physics = False
+        env_cfg.sim.device = device
+
+        # Setup base environment
+        env = ManagerBasedEnv(cfg=env_cfg)
+
+        try:
+            # Simulate physics
+            with torch.inference_mode():
+                for count in range(50):
+                    # Reset every few steps to check nothing breaks
+                    if count % 10 == 0:
+                        env.reset()
+                    # Sample random actions
+                    joint_efforts = torch.randn_like(env.action_manager.action)
+                    # Step the environment
+                    env.step(joint_efforts)
+        finally:
+            env.close()
+    finally:
+        # Clean up stage
+        omni.usd.get_context().close_stage()