File size: 3,364 Bytes
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 | # 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
"""This test has a lot of duplication with ``test_build_simulation_context_headless.py``.
This is intentional to ensure that the tests are run in both headless and non-headless modes,
and we currently can't re-build the simulation app in a script.
If you need to make a change to this test, please make sure to also make the same change to
``test_build_simulation_context_headless.py``.
"""
"""Launch Isaac Sim Simulator first."""
from isaaclab.app import AppLauncher
# launch omniverse app
simulation_app = AppLauncher(headless=True).app
"""Rest everything follows."""
import pytest
from isaaclab.sim.simulation_cfg import SimulationCfg
from isaaclab.sim.simulation_context import build_simulation_context
@pytest.mark.parametrize("gravity_enabled", [True, False])
@pytest.mark.parametrize("device", ["cuda:0", "cpu"])
@pytest.mark.parametrize("dt", [0.01, 0.1])
def test_build_simulation_context_no_cfg(gravity_enabled, device, dt):
"""Test that the simulation context is built when no simulation cfg is passed in."""
with build_simulation_context(gravity_enabled=gravity_enabled, device=device, dt=dt) as sim:
if gravity_enabled:
assert sim.cfg.gravity == (0.0, 0.0, -9.81)
else:
assert sim.cfg.gravity == (0.0, 0.0, 0.0)
assert sim.cfg.device == device
assert sim.cfg.dt == dt
@pytest.mark.parametrize("add_ground_plane", [True, False])
def test_build_simulation_context_ground_plane(add_ground_plane):
"""Test that the simulation context is built with the correct ground plane."""
with build_simulation_context(add_ground_plane=add_ground_plane) as sim:
# Ensure that ground plane got added
if add_ground_plane:
assert sim.stage.GetPrimAtPath("/World/defaultGroundPlane").IsValid()
else:
assert not sim.stage.GetPrimAtPath("/World/defaultGroundPlane").IsValid()
@pytest.mark.parametrize("add_lighting", [True, False])
@pytest.mark.parametrize("auto_add_lighting", [True, False])
def test_build_simulation_context_auto_add_lighting(add_lighting, auto_add_lighting):
"""Test that the simulation context is built with the correct lighting."""
with build_simulation_context(add_lighting=add_lighting, auto_add_lighting=auto_add_lighting) as sim:
if auto_add_lighting or add_lighting:
# Ensure that dome light got added
assert sim.stage.GetPrimAtPath("/World/defaultDomeLight").IsValid()
else:
# Ensure that dome light didn't get added
assert not sim.stage.GetPrimAtPath("/World/defaultDomeLight").IsValid()
def test_build_simulation_context_cfg():
"""Test that the simulation context is built with the correct cfg and values don't get overridden."""
dt = 0.001
# Non-standard gravity
gravity = (0.0, 0.0, -1.81)
device = "cuda:0"
cfg = SimulationCfg(
gravity=gravity,
device=device,
dt=dt,
)
with build_simulation_context(sim_cfg=cfg, gravity_enabled=False, dt=0.01, device="cpu") as sim:
assert sim.cfg.gravity == gravity
assert sim.cfg.device == device
assert sim.cfg.dt == dt
|