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# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from isaaclab.app import AppLauncher
"""Launch Isaac Sim Simulator first."""
# launch omniverse app
simulation_app = AppLauncher(headless=True).app
"""Rest everything follows."""
import pytest
from packaging.version import Version
import omni.kit.app
from isaacsim.core.api.simulation_context import SimulationContext
import isaaclab.sim as sim_utils
from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
from isaaclab.utils.version import get_isaac_sim_version
@pytest.fixture
def sim():
"""Create a blank new stage for each test."""
# Create a new stage
sim_utils.create_new_stage()
# Simulation time-step
dt = 0.1
# Load kit helper
sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
# Wait for spawning
sim_utils.update_stage()
yield sim
# cleanup after test
sim.stop()
sim.clear()
sim.clear_all_callbacks()
sim.clear_instance()
@pytest.mark.isaacsim_ci
def test_spawn_usd(sim):
"""Test loading prim from Usd file."""
# Spawn cone
cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd")
prim = cfg.func("/World/Franka", cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/World/Franka").IsValid()
assert prim.GetPrimTypeInfo().GetTypeName() == "Xform"
@pytest.mark.isaacsim_ci
def test_spawn_usd_fails(sim):
"""Test loading prim from Usd file fails when asset usd path is invalid."""
# Spawn cone
cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda2_instanceable.usd")
with pytest.raises(FileNotFoundError):
cfg.func("/World/Franka", cfg)
@pytest.mark.isaacsim_ci
def test_spawn_urdf(sim):
"""Test loading prim from URDF file."""
# pin the urdf importer extension to the older version
manager = omni.kit.app.get_app().get_extension_manager()
if get_isaac_sim_version() >= Version("5.1"):
pinned_urdf_extension_name = "isaacsim.asset.importer.urdf-2.4.31"
manager.set_extension_enabled_immediate(pinned_urdf_extension_name, True)
else:
pinned_urdf_extension_name = "isaacsim.asset.importer.urdf"
# retrieve path to urdf importer extension
extension_id = manager.get_enabled_extension_id(pinned_urdf_extension_name)
extension_path = manager.get_extension_path(extension_id)
# Spawn franka from URDF
cfg = sim_utils.UrdfFileCfg(
asset_path=f"{extension_path}/data/urdf/robots/franka_description/robots/panda_arm_hand.urdf",
fix_base=True,
joint_drive=sim_utils.UrdfConverterCfg.JointDriveCfg(
gains=sim_utils.UrdfConverterCfg.JointDriveCfg.PDGainsCfg(stiffness=None, damping=None)
),
)
prim = cfg.func("/World/Franka", cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/World/Franka").IsValid()
assert prim.GetPrimTypeInfo().GetTypeName() == "Xform"
@pytest.mark.isaacsim_ci
def test_spawn_ground_plane(sim):
"""Test loading prim for the ground plane from grid world USD."""
# Spawn ground plane
cfg = sim_utils.GroundPlaneCfg(color=(0.1, 0.1, 0.1), size=(10.0, 10.0))
prim = cfg.func("/World/ground_plane", cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/World/ground_plane").IsValid()
assert prim.GetPrimTypeInfo().GetTypeName() == "Xform"
@pytest.mark.isaacsim_ci
def test_spawn_usd_with_compliant_contact_material(sim):
"""Test loading prim from USD file with physics material applied to specific prim."""
# Spawn gelsight finger with physics material on specific prim
usd_file_path = f"{ISAACLAB_NUCLEUS_DIR}/TacSL/gelsight_r15_finger/gelsight_r15_finger.usd"
# Create spawn configuration
spawn_cfg = sim_utils.UsdFileWithCompliantContactCfg(
usd_path=usd_file_path,
rigid_props=sim_utils.RigidBodyPropertiesCfg(disable_gravity=True),
compliant_contact_stiffness=1000.0,
compliant_contact_damping=100.0,
physics_material_prim_path="elastomer",
)
# Spawn the prim
prim = spawn_cfg.func("/World/Robot", spawn_cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/World/Robot").IsValid()
assert prim.GetPrimTypeInfo().GetTypeName() == "Xform"
material_prim_path = "/World/Robot/elastomer/compliant_material"
# Check that the physics material was applied to the specified prim
assert sim.stage.GetPrimAtPath(material_prim_path).IsValid()
# Check properties
material_prim = sim.stage.GetPrimAtPath(material_prim_path)
assert material_prim.IsValid()
assert material_prim.GetAttribute("physxMaterial:compliantContactStiffness").Get() == 1000.0
assert material_prim.GetAttribute("physxMaterial:compliantContactDamping").Get() == 100.0
@pytest.mark.isaacsim_ci
def test_spawn_usd_with_compliant_contact_material_on_multiple_prims(sim):
"""Test loading prim from USD file with physics material applied to multiple prims."""
# Spawn Panda robot with physics material on specific prims
usd_file_path = f"{ISAACLAB_NUCLEUS_DIR}/TacSL/gelsight_r15_finger/gelsight_r15_finger.usd"
# Create spawn configuration
spawn_cfg = sim_utils.UsdFileWithCompliantContactCfg(
usd_path=usd_file_path,
rigid_props=sim_utils.RigidBodyPropertiesCfg(disable_gravity=True),
compliant_contact_stiffness=1000.0,
compliant_contact_damping=100.0,
physics_material_prim_path=["elastomer", "gelsight_finger"],
)
# Spawn the prim
prim = spawn_cfg.func("/World/Robot", spawn_cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/World/Robot").IsValid()
assert prim.GetPrimTypeInfo().GetTypeName() == "Xform"
# Check that the physics material was applied to the specified prims
for link_name in ["elastomer", "gelsight_finger"]:
material_prim_path = f"/World/Robot/{link_name}/compliant_material"
print("checking", material_prim_path)
assert sim.stage.GetPrimAtPath(material_prim_path).IsValid()
# Check properties
material_prim = sim.stage.GetPrimAtPath(material_prim_path)
assert material_prim.IsValid()
assert material_prim.GetAttribute("physxMaterial:compliantContactStiffness").Get() == 1000.0
assert material_prim.GetAttribute("physxMaterial:compliantContactDamping").Get() == 100.0
@pytest.mark.isaacsim_ci
def test_spawn_usd_with_compliant_contact_material_no_prim_path(sim):
"""Test loading prim from USD file with physics material but no prim path specified."""
# Spawn gelsight finger without specifying prim path for physics material
usd_file_path = f"{ISAACLAB_NUCLEUS_DIR}/TacSL/gelsight_r15_finger/gelsight_r15_finger.usd"
# Create spawn configuration without physics material prim path
spawn_cfg = sim_utils.UsdFileWithCompliantContactCfg(
usd_path=usd_file_path,
rigid_props=sim_utils.RigidBodyPropertiesCfg(disable_gravity=True),
compliant_contact_stiffness=1000.0,
compliant_contact_damping=100.0,
physics_material_prim_path=None,
)
# Spawn the prim
prim = spawn_cfg.func("/World/Robot", spawn_cfg)
# Check validity - should still spawn successfully but without physics material
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/World/Robot").IsValid()
assert prim.GetPrimTypeInfo().GetTypeName() == "Xform"
material_prim_path = "/World/Robot/elastomer/compliant_material"
material_prim = sim.stage.GetPrimAtPath(material_prim_path)
assert material_prim is not None
assert not material_prim.IsValid()
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