Update material randomization (#59)

Author: yuecideng

.github/PULL_REQUEST_TEMPLATE.md

@@ -20,6 +20,7 @@ is demanded by more than one party. -->
 <!-- As you go through the list, delete the ones that are not applicable. -->
 
 - Bug fix (non-breaking change which fixes an issue)
+- Enhancement (non-breaking change which improves an existing functionality)
 - New feature (non-breaking change which adds functionality)
 - Breaking change (existing functionality will not work without user modification)
 - Documentation update

embodichain/lab/gym/envs/managers/randomization/visual.py

@@ -453,21 +453,17 @@ def _randomize_mat_inst(
         random_texture_prob: float,
         idx: int = 0,
     ) -> None:
-        # randomize the material instance pbr properties based on the plan.
-        for key, value in plan.items():
-            if key == "base_color":
-                mat_inst.set_base_color(value[idx].tolist())
-            else:
-                getattr(mat_inst, f"set_{key}")(value[idx].item())
 
         # randomize texture or base color based on the probability.
         if random.random() < random_texture_prob and len(self.textures) != 0:
             self._randomize_texture(mat_inst)
         else:
-            # set a random base color instead.
-            random_color = torch.rand(3).tolist()
-            random_color.append(1.0)  # alpha
-            mat_inst.set_base_color(random_color)
+            # randomize the material instance pbr properties based on the plan.
+            for key, value in plan.items():
+                if key == "base_color":
+                    mat_inst.set_base_color(value[idx].tolist())
+                else:
+                    getattr(mat_inst, f"set_{key}")(value[idx].item())
 
     def __call__(
         self,

embodichain/lab/sim/robots/cobotmagic.py

@@ -152,7 +152,7 @@ def _build_default_cfgs() -> Dict[str, Any]:
                 dynamic_friction=0.9,
                 linear_damping=0.7,
                 angular_damping=0.7,
-                contact_offset=0.005,
+                contact_offset=0.001,
                 rest_offset=0.001,
                 restitution=0.01,
                 max_depenetration_velocity=1e1,