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# 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 math
import os
import random
import tempfile
import pytest
import omni
from isaacsim.core.api.simulation_context import SimulationContext
from pxr import UsdGeom, UsdPhysics
import isaaclab.sim as sim_utils
from isaaclab.sim.converters import MeshConverter, MeshConverterCfg
from isaaclab.sim.schemas import MESH_APPROXIMATION_TOKENS, schemas_cfg
from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR, retrieve_file_path
def random_quaternion():
# Generate four random numbers for the quaternion
u1, u2, u3 = random.random(), random.random(), random.random()
w = math.sqrt(1 - u1) * math.sin(2 * math.pi * u2)
x = math.sqrt(1 - u1) * math.cos(2 * math.pi * u2)
y = math.sqrt(u1) * math.sin(2 * math.pi * u3)
z = math.sqrt(u1) * math.cos(2 * math.pi * u3)
return (w, x, y, z)
@pytest.fixture(scope="session")
def assets():
"""Load assets for tests."""
assets_dir = f"{ISAACLAB_NUCLEUS_DIR}/Tests/MeshConverter/duck"
# Create mapping of file endings to file paths that can be used by tests
assets = {
"obj": f"{assets_dir}/duck.obj",
"stl": f"{assets_dir}/duck.stl",
"fbx": f"{assets_dir}/duck.fbx",
"mtl": f"{assets_dir}/duck.mtl",
"png": f"{assets_dir}/duckCM.png",
}
# Download all these locally
download_dir = tempfile.mkdtemp(suffix="_mesh_converter_test_assets")
for key, value in assets.items():
assets[key] = retrieve_file_path(value, download_dir=download_dir)
return assets
@pytest.fixture(autouse=True)
def sim():
"""Create a blank new stage for each test."""
# Create a new stage
sim_utils.create_new_stage()
# Simulation time-step
dt = 0.01
# Load kit helper
sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
yield sim
# stop simulation
sim.stop()
# cleanup stage and context
sim.clear()
sim.clear_all_callbacks()
sim.clear_instance()
def check_mesh_conversion(mesh_converter: MeshConverter):
"""Check that mesh is loadable and stage is valid."""
# Obtain stage handle
stage = sim_utils.get_current_stage()
# Load the mesh
prim_path = "/World/Object"
sim_utils.create_prim(prim_path, usd_path=mesh_converter.usd_path)
# Check prim can be properly spawned
assert stage.GetPrimAtPath(prim_path).IsValid()
# Load a second time
prim_path = "/World/Object2"
sim_utils.create_prim(prim_path, usd_path=mesh_converter.usd_path)
# Check prim can be properly spawned
assert stage.GetPrimAtPath(prim_path).IsValid()
stage = omni.usd.get_context().get_stage()
# Check axis is z-up
axis = UsdGeom.GetStageUpAxis(stage)
assert axis == "Z"
# Check units is meters
units = UsdGeom.GetStageMetersPerUnit(stage)
assert units == 1.0
# Obtain prim handle
prim = stage.GetPrimAtPath("/World/Object/geometry")
# Check mesh settings
pos = tuple(prim.GetAttribute("xformOp:translate").Get())
assert pos == mesh_converter.cfg.translation
quat = prim.GetAttribute("xformOp:orient").Get()
quat = (quat.GetReal(), quat.GetImaginary()[0], quat.GetImaginary()[1], quat.GetImaginary()[2])
assert quat == mesh_converter.cfg.rotation
scale = tuple(prim.GetAttribute("xformOp:scale").Get())
assert scale == mesh_converter.cfg.scale
def check_mesh_collider_settings(mesh_converter: MeshConverter):
"""Check that mesh collider settings are correct."""
# Obtain stage handle
stage = sim_utils.get_current_stage()
# Check prim can be properly spawned
prim_path = "/World/Object"
sim_utils.create_prim(prim_path, usd_path=mesh_converter.usd_path)
assert stage.GetPrimAtPath(prim_path).IsValid()
# Make uninstanceable to check collision settings
geom_prim = stage.GetPrimAtPath(prim_path + "/geometry")
# Check that instancing worked!
assert geom_prim.IsInstanceable() == mesh_converter.cfg.make_instanceable
# Obtain mesh settings
geom_prim.SetInstanceable(False)
mesh_prim = stage.GetPrimAtPath(prim_path + "/geometry/mesh")
# Check collision settings
# -- if collision is enabled, check that API is present
exp_collision_enabled = (
mesh_converter.cfg.collision_props is not None and mesh_converter.cfg.collision_props.collision_enabled
)
collision_api = UsdPhysics.CollisionAPI(mesh_prim)
collision_enabled = collision_api.GetCollisionEnabledAttr().Get()
assert collision_enabled == exp_collision_enabled, "Collision enabled is not the same!"
# -- if collision is enabled, check that collision approximation is correct
if exp_collision_enabled:
if mesh_converter.cfg.mesh_collision_props is not None:
exp_collision_approximation_str = mesh_converter.cfg.mesh_collision_props.mesh_approximation_name
exp_collision_approximation_token = MESH_APPROXIMATION_TOKENS[exp_collision_approximation_str]
mesh_collision_api = UsdPhysics.MeshCollisionAPI(mesh_prim)
collision_approximation = mesh_collision_api.GetApproximationAttr().Get()
# Convert token to string for comparison
assert collision_approximation == exp_collision_approximation_token, (
"Collision approximation is not the same!"
)
def test_no_change(assets):
"""Call conversion twice on the same input asset.
This should not generate a new USD file if the hash is the same.
"""
# create an initial USD file from asset
mesh_config = MeshConverterCfg(asset_path=assets["obj"])
mesh_converter = MeshConverter(mesh_config)
time_usd_file_created = os.stat(mesh_converter.usd_path).st_mtime_ns
# no change to config only define the usd directory
new_config = mesh_config
new_config.usd_dir = mesh_converter.usd_dir
# convert to usd but this time in the same directory as previous step
new_mesh_converter = MeshConverter(new_config)
new_time_usd_file_created = os.stat(new_mesh_converter.usd_path).st_mtime_ns
assert time_usd_file_created == new_time_usd_file_created
def test_config_change(assets):
"""Call conversion twice but change the config in the second call. This should generate a new USD file."""
# create an initial USD file from asset
mesh_config = MeshConverterCfg(asset_path=assets["obj"])
mesh_converter = MeshConverter(mesh_config)
time_usd_file_created = os.stat(mesh_converter.usd_path).st_mtime_ns
# change the config
new_config = mesh_config
new_config.make_instanceable = not mesh_config.make_instanceable
# define the usd directory
new_config.usd_dir = mesh_converter.usd_dir
# convert to usd but this time in the same directory as previous step
new_mesh_converter = MeshConverter(new_config)
new_time_usd_file_created = os.stat(new_mesh_converter.usd_path).st_mtime_ns
assert time_usd_file_created != new_time_usd_file_created
def test_convert_obj(assets):
"""Convert an OBJ file"""
mesh_config = MeshConverterCfg(
asset_path=assets["obj"],
scale=(random.uniform(0.1, 2.0), random.uniform(0.1, 2.0), random.uniform(0.1, 2.0)),
translation=(random.uniform(-10.0, 10.0), random.uniform(-10.0, 10.0), random.uniform(-10.0, 10.0)),
rotation=random_quaternion(),
)
mesh_converter = MeshConverter(mesh_config)
# check that mesh conversion is successful
check_mesh_conversion(mesh_converter)
def test_convert_stl(assets):
"""Convert an STL file"""
mesh_config = MeshConverterCfg(
asset_path=assets["stl"],
scale=(random.uniform(0.1, 2.0), random.uniform(0.1, 2.0), random.uniform(0.1, 2.0)),
translation=(random.uniform(-10.0, 10.0), random.uniform(-10.0, 10.0), random.uniform(-10.0, 10.0)),
rotation=random_quaternion(),
)
mesh_converter = MeshConverter(mesh_config)
# check that mesh conversion is successful
check_mesh_conversion(mesh_converter)
def test_convert_fbx(assets):
"""Convert an FBX file"""
mesh_config = MeshConverterCfg(
asset_path=assets["fbx"],
scale=(random.uniform(0.1, 2.0), random.uniform(0.1, 2.0), random.uniform(0.1, 2.0)),
translation=(random.uniform(-10.0, 10.0), random.uniform(-10.0, 10.0), random.uniform(-10.0, 10.0)),
rotation=random_quaternion(),
)
mesh_converter = MeshConverter(mesh_config)
# check that mesh conversion is successful
check_mesh_conversion(mesh_converter)
def test_convert_default_xform_transforms(assets):
"""Convert an OBJ file and check that default xform transforms are applied correctly"""
mesh_config = MeshConverterCfg(asset_path=assets["obj"])
mesh_converter = MeshConverter(mesh_config)
# check that mesh conversion is successful
check_mesh_conversion(mesh_converter)
def test_collider_no_approximation(assets):
"""Convert an OBJ file using no approximation"""
collision_props = schemas_cfg.CollisionPropertiesCfg(collision_enabled=True)
mesh_config = MeshConverterCfg(
asset_path=assets["obj"],
collision_props=collision_props,
)
mesh_converter = MeshConverter(mesh_config)
# check that mesh conversion is successful
check_mesh_collider_settings(mesh_converter)
def test_collider_convex_hull(assets):
"""Convert an OBJ file using convex hull approximation"""
collision_props = schemas_cfg.CollisionPropertiesCfg(collision_enabled=True)
mesh_collision_prop = schemas_cfg.ConvexHullPropertiesCfg()
mesh_config = MeshConverterCfg(
asset_path=assets["obj"],
mesh_collision_props=mesh_collision_prop,
collision_props=collision_props,
)
mesh_converter = MeshConverter(mesh_config)
# check that mesh conversion is successful
check_mesh_collider_settings(mesh_converter)
def test_collider_convex_decomposition(assets):
"""Convert an OBJ file using convex decomposition approximation"""
collision_props = schemas_cfg.CollisionPropertiesCfg(collision_enabled=True)
mesh_collision_prop = schemas_cfg.ConvexDecompositionPropertiesCfg()
mesh_config = MeshConverterCfg(
asset_path=assets["obj"],
mesh_collision_props=mesh_collision_prop,
collision_props=collision_props,
)
mesh_converter = MeshConverter(mesh_config)
# check that mesh conversion is successful
check_mesh_collider_settings(mesh_converter)
def test_collider_triangle_mesh(assets):
"""Convert an OBJ file using triangle mesh approximation"""
collision_props = schemas_cfg.CollisionPropertiesCfg(collision_enabled=True)
mesh_collision_prop = schemas_cfg.TriangleMeshPropertiesCfg()
mesh_config = MeshConverterCfg(
asset_path=assets["obj"],
mesh_collision_props=mesh_collision_prop,
collision_props=collision_props,
)
mesh_converter = MeshConverter(mesh_config)
# check that mesh conversion is successful
check_mesh_collider_settings(mesh_converter)
def test_collider_mesh_simplification(assets):
"""Convert an OBJ file using mesh simplification approximation"""
collision_props = schemas_cfg.CollisionPropertiesCfg(collision_enabled=True)
mesh_collision_prop = schemas_cfg.TriangleMeshSimplificationPropertiesCfg()
mesh_config = MeshConverterCfg(
asset_path=assets["obj"],
mesh_collision_props=mesh_collision_prop,
collision_props=collision_props,
)
mesh_converter = MeshConverter(mesh_config)
# check that mesh conversion is successful
check_mesh_collider_settings(mesh_converter)
def test_collider_mesh_bounding_cube(assets):
"""Convert an OBJ file using bounding cube approximation"""
collision_props = schemas_cfg.CollisionPropertiesCfg(collision_enabled=True)
mesh_collision_prop = schemas_cfg.BoundingCubePropertiesCfg()
mesh_config = MeshConverterCfg(
asset_path=assets["obj"],
mesh_collision_props=mesh_collision_prop,
collision_props=collision_props,
)
mesh_converter = MeshConverter(mesh_config)
# check that mesh conversion is successful
check_mesh_collider_settings(mesh_converter)
def test_collider_mesh_bounding_sphere(assets):
"""Convert an OBJ file using bounding sphere"""
collision_props = schemas_cfg.CollisionPropertiesCfg(collision_enabled=True)
mesh_collision_prop = schemas_cfg.BoundingSpherePropertiesCfg()
mesh_config = MeshConverterCfg(
asset_path=assets["obj"],
mesh_collision_props=mesh_collision_prop,
collision_props=collision_props,
)
mesh_converter = MeshConverter(mesh_config)
# check that mesh conversion is successful
check_mesh_collider_settings(mesh_converter)
def test_collider_mesh_sdf(assets):
"""Convert an OBJ file using signed distance field approximation"""
collision_props = schemas_cfg.CollisionPropertiesCfg(collision_enabled=True)
mesh_collision_prop = schemas_cfg.SDFMeshPropertiesCfg()
mesh_config = MeshConverterCfg(
asset_path=assets["obj"],
mesh_collision_props=mesh_collision_prop,
collision_props=collision_props,
)
mesh_converter = MeshConverter(mesh_config)
# check that mesh conversion is successful
check_mesh_collider_settings(mesh_converter)
def test_collider_mesh_no_collision(assets):
"""Convert an OBJ file using bounding sphere with collision disabled"""
collision_props = schemas_cfg.CollisionPropertiesCfg(collision_enabled=False)
mesh_collision_prop = schemas_cfg.BoundingSpherePropertiesCfg()
mesh_config = MeshConverterCfg(
asset_path=assets["obj"],
mesh_collision_props=mesh_collision_prop,
collision_props=collision_props,
)
mesh_converter = MeshConverter(mesh_config)
# check that mesh conversion is successful
check_mesh_collider_settings(mesh_converter)
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