How to load textures from files?

[johnrso]

it is possible to load textures from files (for i.e. domain randomization)? if so, could someone provide an example/point me in a direction?

thanks!

[fbxiang]

To load a texture, you can use renderer.create_texture_from_file and material.set_xxx_texture or material.set_xxx_texture_from_file directly. See

SAPIEN/python/pysapien_content.hpp

Line 2189 in 02287b2

"create_texture_from_file",

SAPIEN/python/pysapien_content.hpp

Lines 543 to 561 in 02287b2

	.def("set_diffuse_texture", &Renderer::IPxrMaterial::setDiffuseTexture, py::arg("texture"))
	.def("set_metallic_texture", &Renderer::IPxrMaterial::setMetallicTexture, py::arg("texture"))
	.def("set_roughness_texture", &Renderer::IPxrMaterial::setRoughnessTexture,
	py::arg("texture"))
	.def("set_transmission_texture", &Renderer::IPxrMaterial::setTransmissionTexture,
	py::arg("texture"))
	.def("set_normal_texture", &Renderer::IPxrMaterial::setNormalTexture, py::arg("texture"))
	.def("set_emission_texture_from_file",
	&Renderer::IPxrMaterial::setEmissionTextureFromFilename, py::arg("path"))
	.def("set_diffuse_texture_from_file", &Renderer::IPxrMaterial::setDiffuseTextureFromFilename,
	py::arg("path"))
	.def("set_metallic_texture_from_file",
	&Renderer::IPxrMaterial::setMetallicTextureFromFilename, py::arg("path"))
	.def("set_roughness_texture_from_file",
	&Renderer::IPxrMaterial::setRoughnessTextureFromFilename, py::arg("path"))
	.def("set_transmission_texture_from_file",
	&Renderer::IPxrMaterial::setTransmissionTextureFromFilename, py::arg("path"))
	.def("set_normal_texture_from_file", &Renderer::IPxrMaterial::setNormalTextureFromFilename,

You then need to assign the material to actors/articulations when building them.
If you want to randomize texture for articulations loaded from URDF files, while you can do it in SAPIEN, I think a easier way is to parse and generate new URDF files.

[johnrso]

Thank you! and just to double check, what is the format for texture files?

[fbxiang]

You can use your favorite image format (JPG, PNG, etc.)