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# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
Unit tests for retargeters.
"""
from isaaclab.app import AppLauncher
# Can set this to False to see the GUI for debugging.
HEADLESS = True
# Launch omniverse app.
app_launcher = AppLauncher(headless=HEADLESS)
simulation_app = app_launcher.app
import sys
import unittest
from unittest.mock import MagicMock, patch
import numpy as np
import torch
# Mock dependencies that might require a running simulation or specific hardware
sys.modules["isaaclab.markers"] = MagicMock()
sys.modules["isaaclab.markers.config"] = MagicMock()
sys.modules["isaaclab.sim"] = MagicMock()
sys.modules["isaaclab.sim.SimulationContext"] = MagicMock()
# Mock SimulationContext instance
mock_sim_context = MagicMock()
mock_sim_context.get_rendering_dt.return_value = 0.016 # 60Hz
sys.modules["isaaclab.sim"].SimulationContext.instance.return_value = mock_sim_context
# Import after mocking
from isaaclab.devices.device_base import DeviceBase
from isaaclab.devices.openxr.retargeters.humanoid.unitree.g1_lower_body_standing import (
G1LowerBodyStandingRetargeter,
G1LowerBodyStandingRetargeterCfg,
)
from isaaclab.devices.openxr.retargeters.humanoid.unitree.g1_motion_controller_locomotion import (
G1LowerBodyStandingMotionControllerRetargeter,
G1LowerBodyStandingMotionControllerRetargeterCfg,
)
from isaaclab.devices.openxr.retargeters.manipulator.gripper_retargeter import GripperRetargeter, GripperRetargeterCfg
from isaaclab.devices.openxr.retargeters.manipulator.se3_abs_retargeter import Se3AbsRetargeter, Se3AbsRetargeterCfg
from isaaclab.devices.openxr.retargeters.manipulator.se3_rel_retargeter import Se3RelRetargeter, Se3RelRetargeterCfg
# Mock dex retargeting utils
with patch.dict(
sys.modules,
{
"isaaclab.devices.openxr.retargeters.humanoid.unitree.inspire.g1_dex_retargeting_utils": MagicMock(),
"isaaclab.devices.openxr.retargeters.humanoid.fourier.gr1_t2_dex_retargeting_utils": MagicMock(),
"isaaclab.devices.openxr.retargeters.humanoid.unitree.trihand.g1_dex_retargeting_utils": MagicMock(),
},
):
from isaaclab.devices.openxr.retargeters.humanoid.fourier.gr1t2_retargeter import (
GR1T2Retargeter,
GR1T2RetargeterCfg,
)
from isaaclab.devices.openxr.retargeters.humanoid.unitree.inspire.g1_upper_body_retargeter import (
UnitreeG1Retargeter,
UnitreeG1RetargeterCfg,
)
from isaaclab.devices.openxr.retargeters.humanoid.unitree.trihand.g1_upper_body_motion_ctrl_gripper import (
G1TriHandUpperBodyMotionControllerGripperRetargeter,
G1TriHandUpperBodyMotionControllerGripperRetargeterCfg,
)
from isaaclab.devices.openxr.retargeters.humanoid.unitree.trihand.g1_upper_body_motion_ctrl_retargeter import (
G1TriHandUpperBodyMotionControllerRetargeter,
G1TriHandUpperBodyMotionControllerRetargeterCfg,
)
from isaaclab.devices.openxr.retargeters.humanoid.unitree.trihand.g1_upper_body_retargeter import (
G1TriHandUpperBodyRetargeter,
G1TriHandUpperBodyRetargeterCfg,
)
class TestSe3AbsRetargeter(unittest.TestCase):
def setUp(self):
self.cfg = Se3AbsRetargeterCfg(
bound_hand=DeviceBase.TrackingTarget.HAND_RIGHT, enable_visualization=False, sim_device="cpu"
)
self.retargeter = Se3AbsRetargeter(self.cfg)
def test_retarget_defaults(self):
# Mock input data
wrist_pose = np.array([0.1, 0.2, 0.3, 1.0, 0.0, 0.0, 0.0])
thumb_tip_pose = np.array([0.15, 0.25, 0.35, 1.0, 0.0, 0.0, 0.0])
index_tip_pose = np.array([0.15, 0.20, 0.35, 1.0, 0.0, 0.0, 0.0])
data = {
DeviceBase.TrackingTarget.HAND_RIGHT: {
"wrist": wrist_pose,
"thumb_tip": thumb_tip_pose,
"index_tip": index_tip_pose,
}
}
result = self.retargeter.retarget(data)
self.assertIsInstance(result, torch.Tensor)
self.assertEqual(result.shape, (7,))
np.testing.assert_allclose(result[:3].numpy(), wrist_pose[:3], rtol=1e-5)
self.assertAlmostEqual(torch.norm(result[3:]).item(), 1.0, places=4)
def test_pinch_position(self):
self.cfg.use_wrist_position = False
retargeter = Se3AbsRetargeter(self.cfg)
wrist_pose = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0])
thumb_tip_pose = np.array([1.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0])
index_tip_pose = np.array([3.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0])
data = {
DeviceBase.TrackingTarget.HAND_RIGHT: {
"wrist": wrist_pose,
"thumb_tip": thumb_tip_pose,
"index_tip": index_tip_pose,
}
}
result = retargeter.retarget(data)
expected_pos = np.array([2.0, 0.0, 0.0])
np.testing.assert_allclose(result[:3].numpy(), expected_pos, rtol=1e-5)
class TestSe3RelRetargeter(unittest.TestCase):
def setUp(self):
self.cfg = Se3RelRetargeterCfg(
bound_hand=DeviceBase.TrackingTarget.HAND_LEFT,
enable_visualization=False,
sim_device="cpu",
delta_pos_scale_factor=1.0,
delta_rot_scale_factor=1.0,
alpha_pos=1.0,
alpha_rot=1.0,
)
self.retargeter = Se3RelRetargeter(self.cfg)
def test_retarget_movement(self):
wrist_pose_1 = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0])
thumb_tip_pose_1 = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0])
index_tip_pose_1 = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0])
data_1 = {
DeviceBase.TrackingTarget.HAND_LEFT: {
"wrist": wrist_pose_1,
"thumb_tip": thumb_tip_pose_1,
"index_tip": index_tip_pose_1,
}
}
_ = self.retargeter.retarget(data_1)
wrist_pose_2 = np.array([0.1, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0])
thumb_tip_pose_2 = np.array([0.1, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0])
index_tip_pose_2 = np.array([0.1, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0])
data_2 = {
DeviceBase.TrackingTarget.HAND_LEFT: {
"wrist": wrist_pose_2,
"thumb_tip": thumb_tip_pose_2,
"index_tip": index_tip_pose_2,
}
}
result = self.retargeter.retarget(data_2)
self.assertEqual(result.shape, (6,))
np.testing.assert_allclose(result[:3].numpy(), [0.1, 0.0, 0.0], rtol=1e-4)
class TestGripperRetargeter(unittest.TestCase):
def setUp(self):
self.cfg = GripperRetargeterCfg(bound_hand=DeviceBase.TrackingTarget.HAND_RIGHT, sim_device="cpu")
self.retargeter = GripperRetargeter(self.cfg)
def test_gripper_logic(self):
data_open = {
DeviceBase.TrackingTarget.HAND_RIGHT: {
"thumb_tip": np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]),
"index_tip": np.array([0.1, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]),
}
}
result = self.retargeter.retarget(data_open)
self.assertEqual(result.item(), 1.0)
data_close = {
DeviceBase.TrackingTarget.HAND_RIGHT: {
"thumb_tip": np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]),
"index_tip": np.array([0.02, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]),
}
}
result = self.retargeter.retarget(data_close)
self.assertEqual(result.item(), -1.0)
class TestG1LowerBodyStandingRetargeter(unittest.TestCase):
def test_retarget(self):
cfg = G1LowerBodyStandingRetargeterCfg(hip_height=0.8, sim_device="cpu")
retargeter = G1LowerBodyStandingRetargeter(cfg)
result = retargeter.retarget({})
self.assertTrue(torch.equal(result, torch.tensor([0.0, 0.0, 0.0, 0.8])))
class TestUnitreeG1Retargeter(unittest.TestCase):
@patch(
"isaaclab.devices.openxr.retargeters.humanoid.unitree.inspire.g1_upper_body_retargeter.UnitreeG1DexRetargeting"
)
def test_retarget(self, mock_dex_retargeting_cls):
mock_dex_retargeting = mock_dex_retargeting_cls.return_value
mock_dex_retargeting.get_joint_names.return_value = ["joint1", "joint2"]
mock_dex_retargeting.get_left_joint_names.return_value = ["joint1"]
mock_dex_retargeting.get_right_joint_names.return_value = ["joint2"]
mock_dex_retargeting.compute_left.return_value = np.array([0.1])
mock_dex_retargeting.compute_right.return_value = np.array([0.2])
cfg = UnitreeG1RetargeterCfg(
enable_visualization=False, sim_device="cpu", hand_joint_names=["joint1", "joint2"]
)
retargeter = UnitreeG1Retargeter(cfg)
wrist_pose = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0])
data = {
DeviceBase.TrackingTarget.HAND_LEFT: {"wrist": wrist_pose},
DeviceBase.TrackingTarget.HAND_RIGHT: {"wrist": wrist_pose},
}
result = retargeter.retarget(data)
self.assertEqual(result.shape, (16,))
class TestGR1T2Retargeter(unittest.TestCase):
@patch("isaaclab.devices.openxr.retargeters.humanoid.fourier.gr1t2_retargeter.GR1TR2DexRetargeting")
def test_retarget(self, mock_dex_retargeting_cls):
mock_dex_retargeting = mock_dex_retargeting_cls.return_value
mock_dex_retargeting.get_joint_names.return_value = ["joint1", "joint2"]
mock_dex_retargeting.get_left_joint_names.return_value = ["joint1"]
mock_dex_retargeting.get_right_joint_names.return_value = ["joint2"]
mock_dex_retargeting.compute_left.return_value = np.array([0.1])
mock_dex_retargeting.compute_right.return_value = np.array([0.2])
cfg = GR1T2RetargeterCfg(enable_visualization=False, sim_device="cpu", hand_joint_names=["joint1", "joint2"])
retargeter = GR1T2Retargeter(cfg)
wrist_pose = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0])
data = {
DeviceBase.TrackingTarget.HAND_LEFT: {"wrist": wrist_pose},
DeviceBase.TrackingTarget.HAND_RIGHT: {"wrist": wrist_pose},
}
result = retargeter.retarget(data)
self.assertEqual(result.shape, (16,))
class TestG1LowerBodyStandingMotionControllerRetargeter(unittest.TestCase):
def test_retarget(self):
cfg = G1LowerBodyStandingMotionControllerRetargeterCfg(
hip_height=0.8, movement_scale=1.0, rotation_scale=1.0, sim_device="cpu"
)
retargeter = G1LowerBodyStandingMotionControllerRetargeter(cfg)
# Mock input data
# Inputs array structure: [thumbstick_x, thumbstick_y, trigger, squeeze, button_0, button_1, padding]
left_inputs = np.zeros(7)
left_inputs[0] = 0.5 # thumbstick x
left_inputs[1] = 0.5 # thumbstick y
right_inputs = np.zeros(7)
right_inputs[0] = -0.5 # thumbstick x
right_inputs[1] = -0.5 # thumbstick y
data = {
DeviceBase.TrackingTarget.CONTROLLER_LEFT: [np.zeros(7), left_inputs],
DeviceBase.TrackingTarget.CONTROLLER_RIGHT: [np.zeros(7), right_inputs],
}
result = retargeter.retarget(data)
# Output: [-left_thumbstick_y, -left_thumbstick_x, -right_thumbstick_x, hip_height]
# hip_height modified by right_thumbstick_y
self.assertEqual(result.shape, (4,))
self.assertAlmostEqual(result[0].item(), -0.5) # -left y
self.assertAlmostEqual(result[1].item(), -0.5) # -left x
self.assertAlmostEqual(result[2].item(), 0.5) # -right x
# Check hip height modification logic if needed, but basic execution is key here
class TestG1TriHandUpperBodyMotionControllerGripperRetargeter(unittest.TestCase):
def test_retarget(self):
cfg = G1TriHandUpperBodyMotionControllerGripperRetargeterCfg(
threshold_high=0.6, threshold_low=0.4, sim_device="cpu"
)
retargeter = G1TriHandUpperBodyMotionControllerGripperRetargeter(cfg)
pose = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0])
inputs_trigger_high = np.zeros(7)
inputs_trigger_high[2] = 0.8 # Trigger
inputs_trigger_low = np.zeros(7)
inputs_trigger_low[2] = 0.2 # Trigger
data = {
DeviceBase.TrackingTarget.CONTROLLER_LEFT: [pose, inputs_trigger_high],
DeviceBase.TrackingTarget.CONTROLLER_RIGHT: [pose, inputs_trigger_low],
}
result = retargeter.retarget(data)
# Output: [left_state, right_state, left_wrist(7), right_wrist(7)]
self.assertEqual(result.shape, (16,))
self.assertEqual(result[0].item(), 1.0) # Left closed
self.assertEqual(result[1].item(), 0.0) # Right open
class TestG1TriHandUpperBodyMotionControllerRetargeter(unittest.TestCase):
def test_retarget(self):
cfg = G1TriHandUpperBodyMotionControllerRetargeterCfg(
hand_joint_names=["dummy"] * 14, # Not really used in logic, just passed to config
sim_device="cpu",
enable_visualization=False,
)
retargeter = G1TriHandUpperBodyMotionControllerRetargeter(cfg)
pose = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0])
inputs = np.zeros(7)
data = {
DeviceBase.TrackingTarget.CONTROLLER_LEFT: [pose, inputs],
DeviceBase.TrackingTarget.CONTROLLER_RIGHT: [pose, inputs],
}
result = retargeter.retarget(data)
# Output: [left_wrist(7), right_wrist(7), hand_joints(14)]
self.assertEqual(result.shape, (28,))
class TestG1TriHandUpperBodyRetargeter(unittest.TestCase):
@patch(
"isaaclab.devices.openxr.retargeters.humanoid.unitree.trihand.g1_upper_body_retargeter.G1TriHandDexRetargeting"
)
def test_retarget(self, mock_dex_retargeting_cls):
mock_dex_retargeting = mock_dex_retargeting_cls.return_value
mock_dex_retargeting.get_joint_names.return_value = ["joint1", "joint2"]
mock_dex_retargeting.get_left_joint_names.return_value = ["joint1"]
mock_dex_retargeting.get_right_joint_names.return_value = ["joint2"]
mock_dex_retargeting.compute_left.return_value = np.array([0.1])
mock_dex_retargeting.compute_right.return_value = np.array([0.2])
cfg = G1TriHandUpperBodyRetargeterCfg(
enable_visualization=False, sim_device="cpu", hand_joint_names=["joint1", "joint2"]
)
retargeter = G1TriHandUpperBodyRetargeter(cfg)
wrist_pose = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0])
data = {
DeviceBase.TrackingTarget.HAND_LEFT: {"wrist": wrist_pose},
DeviceBase.TrackingTarget.HAND_RIGHT: {"wrist": wrist_pose},
}
result = retargeter.retarget(data)
# Output: [left_wrist(7), right_wrist(7), joints(2)]
self.assertEqual(result.shape, (16,))
if __name__ == "__main__":
unittest.main()
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