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406662d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 | # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Launch Isaac Sim Simulator first."""
from isaaclab.app import AppLauncher
# launch omniverse app
simulation_app = AppLauncher(headless=True).app
"""Rest everything follows."""
import pytest
import torch
from isaacsim.core.api.simulation_context import SimulationContext
import isaaclab.sim as sim_utils
from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg
from isaaclab.markers.config import FRAME_MARKER_CFG, POSITION_GOAL_MARKER_CFG
from isaaclab.utils.math import random_orientation
from isaaclab.utils.timer import Timer
@pytest.fixture
def sim():
"""Create a blank new stage for each test."""
# Simulation time-step
dt = 0.01
# Open a new stage
sim_utils.create_new_stage()
# Load kit helper
sim_context = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="torch", device="cuda:0")
yield sim_context
# Cleanup
sim_context.stop()
sim_context.clear_instance()
sim_utils.close_stage()
def test_instantiation(sim):
"""Test that the class can be initialized properly."""
config = VisualizationMarkersCfg(
prim_path="/World/Visuals/test",
markers={
"test": sim_utils.SphereCfg(radius=1.0),
},
)
test_marker = VisualizationMarkers(config)
print(test_marker)
# check number of markers
assert test_marker.num_prototypes == 1
def test_usd_marker(sim):
"""Test with marker from a USD."""
# create a marker
config = FRAME_MARKER_CFG.copy()
config.prim_path = "/World/Visuals/test_frames"
test_marker = VisualizationMarkers(config)
# play the simulation
sim.reset()
# create a buffer
num_frames = 0
# run with randomization of poses
for count in range(1000):
# sample random poses
if count % 50 == 0:
num_frames = torch.randint(10, 1000, (1,)).item()
frame_translations = torch.randn(num_frames, 3, device=sim.device)
frame_rotations = random_orientation(num_frames, device=sim.device)
# set the marker
test_marker.visualize(translations=frame_translations, orientations=frame_rotations)
# update the kit
sim.step()
# asset that count is correct
assert test_marker.count == num_frames
def test_usd_marker_color(sim):
"""Test with marker from a USD with its color modified."""
# create a marker
config = FRAME_MARKER_CFG.copy()
config.prim_path = "/World/Visuals/test_frames"
config.markers["frame"].visual_material = sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0))
test_marker = VisualizationMarkers(config)
# play the simulation
sim.reset()
# run with randomization of poses
for count in range(1000):
# sample random poses
if count % 50 == 0:
num_frames = torch.randint(10, 1000, (1,)).item()
frame_translations = torch.randn(num_frames, 3, device=sim.device)
frame_rotations = random_orientation(num_frames, device=sim.device)
# set the marker
test_marker.visualize(translations=frame_translations, orientations=frame_rotations)
# update the kit
sim.step()
def test_multiple_prototypes_marker(sim):
"""Test with multiple prototypes of spheres."""
# create a marker
config = POSITION_GOAL_MARKER_CFG.copy()
config.prim_path = "/World/Visuals/test_protos"
test_marker = VisualizationMarkers(config)
# play the simulation
sim.reset()
# run with randomization of poses
for count in range(1000):
# sample random poses
if count % 50 == 0:
num_frames = torch.randint(100, 1000, (1,)).item()
frame_translations = torch.randn(num_frames, 3, device=sim.device)
# randomly choose a prototype
marker_indices = torch.randint(0, test_marker.num_prototypes, (num_frames,), device=sim.device)
# set the marker
test_marker.visualize(translations=frame_translations, marker_indices=marker_indices)
# update the kit
sim.step()
def test_visualization_time_based_on_prototypes(sim):
"""Test with time taken when number of prototypes is increased."""
# create a marker
config = POSITION_GOAL_MARKER_CFG.copy()
config.prim_path = "/World/Visuals/test_protos"
test_marker = VisualizationMarkers(config)
# play the simulation
sim.reset()
# number of frames
num_frames = 4096
# check that visibility is true
assert test_marker.is_visible()
# run with randomization of poses and indices
frame_translations = torch.randn(num_frames, 3, device=sim.device)
marker_indices = torch.randint(0, test_marker.num_prototypes, (num_frames,), device=sim.device)
# set the marker
with Timer("Marker visualization with explicit indices") as timer:
test_marker.visualize(translations=frame_translations, marker_indices=marker_indices)
# save the time
time_with_marker_indices = timer.time_elapsed
with Timer("Marker visualization with no indices") as timer:
test_marker.visualize(translations=frame_translations)
# save the time
time_with_no_marker_indices = timer.time_elapsed
# update the kit
sim.step()
# check that the time is less
assert time_with_no_marker_indices < time_with_marker_indices
def test_visualization_time_based_on_visibility(sim):
"""Test with visibility of markers. When invisible, the visualize call should return."""
# create a marker
config = POSITION_GOAL_MARKER_CFG.copy()
config.prim_path = "/World/Visuals/test_protos"
test_marker = VisualizationMarkers(config)
# play the simulation
sim.reset()
# number of frames
num_frames = 4096
# check that visibility is true
assert test_marker.is_visible()
# run with randomization of poses and indices
frame_translations = torch.randn(num_frames, 3, device=sim.device)
marker_indices = torch.randint(0, test_marker.num_prototypes, (num_frames,), device=sim.device)
# set the marker
with Timer("Marker visualization") as timer:
test_marker.visualize(translations=frame_translations, marker_indices=marker_indices)
# save the time
time_with_visualization = timer.time_elapsed
# update the kit
sim.step()
# make invisible
test_marker.set_visibility(False)
# check that visibility is false
assert not test_marker.is_visible()
# run with randomization of poses and indices
frame_translations = torch.randn(num_frames, 3, device=sim.device)
marker_indices = torch.randint(0, test_marker.num_prototypes, (num_frames,), device=sim.device)
# set the marker
with Timer("Marker no visualization") as timer:
test_marker.visualize(translations=frame_translations, marker_indices=marker_indices)
# save the time
time_with_no_visualization = timer.time_elapsed
# check that the time is less
assert time_with_no_visualization < time_with_visualization
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