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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 | # 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
from isaacsim.core.api.simulation_context import SimulationContext
from pxr import UsdPhysics, UsdShade
import isaaclab.sim as sim_utils
from isaaclab.utils.assets import NVIDIA_NUCLEUS_DIR
@pytest.fixture
def sim():
"""Create a simulation context."""
sim_utils.create_new_stage()
dt = 0.1
sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
sim_utils.update_stage()
yield sim
sim.stop()
sim.clear()
sim.clear_all_callbacks()
sim.clear_instance()
def test_spawn_preview_surface(sim):
"""Test spawning preview surface."""
cfg = sim_utils.materials.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0))
prim = cfg.func("/Looks/PreviewSurface", cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/Looks/PreviewSurface").IsValid()
assert prim.GetPrimTypeInfo().GetTypeName() == "Shader"
# Check properties
assert prim.GetAttribute("inputs:diffuseColor").Get() == cfg.diffuse_color
def test_spawn_mdl_material(sim):
"""Test spawning mdl material."""
cfg = sim_utils.materials.MdlFileCfg(
mdl_path=f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Metals/Aluminum_Anodized.mdl",
project_uvw=True,
albedo_brightness=0.5,
)
prim = cfg.func("/Looks/MdlMaterial", cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/Looks/MdlMaterial").IsValid()
assert prim.GetPrimTypeInfo().GetTypeName() == "Shader"
# Check properties
assert prim.GetAttribute("inputs:project_uvw").Get() == cfg.project_uvw
assert prim.GetAttribute("inputs:albedo_brightness").Get() == cfg.albedo_brightness
def test_spawn_glass_mdl_material(sim):
"""Test spawning a glass mdl material."""
cfg = sim_utils.materials.GlassMdlCfg(thin_walled=False, glass_ior=1.0, glass_color=(0.0, 1.0, 0.0))
prim = cfg.func("/Looks/GlassMaterial", cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/Looks/GlassMaterial").IsValid()
assert prim.GetPrimTypeInfo().GetTypeName() == "Shader"
# Check properties
assert prim.GetAttribute("inputs:thin_walled").Get() == cfg.thin_walled
assert prim.GetAttribute("inputs:glass_ior").Get() == cfg.glass_ior
assert prim.GetAttribute("inputs:glass_color").Get() == cfg.glass_color
def test_spawn_rigid_body_material(sim):
"""Test spawning a rigid body material."""
cfg = sim_utils.materials.RigidBodyMaterialCfg(
dynamic_friction=1.5,
restitution=1.5,
static_friction=0.5,
restitution_combine_mode="max",
friction_combine_mode="max",
)
prim = cfg.func("/Looks/RigidBodyMaterial", cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/Looks/RigidBodyMaterial").IsValid()
# Check properties
assert prim.GetAttribute("physics:staticFriction").Get() == cfg.static_friction
assert prim.GetAttribute("physics:dynamicFriction").Get() == cfg.dynamic_friction
assert prim.GetAttribute("physics:restitution").Get() == cfg.restitution
assert prim.GetAttribute("physxMaterial:restitutionCombineMode").Get() == cfg.restitution_combine_mode
assert prim.GetAttribute("physxMaterial:frictionCombineMode").Get() == cfg.friction_combine_mode
def test_spawn_deformable_body_material(sim):
"""Test spawning a deformable body material."""
cfg = sim_utils.materials.DeformableBodyMaterialCfg(
density=1.0,
dynamic_friction=0.25,
youngs_modulus=50000000.0,
poissons_ratio=0.5,
elasticity_damping=0.005,
damping_scale=1.0,
)
prim = cfg.func("/Looks/DeformableBodyMaterial", cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/Looks/DeformableBodyMaterial").IsValid()
# Check properties
assert prim.GetAttribute("physxDeformableBodyMaterial:density").Get() == cfg.density
assert prim.GetAttribute("physxDeformableBodyMaterial:dynamicFriction").Get() == cfg.dynamic_friction
assert prim.GetAttribute("physxDeformableBodyMaterial:youngsModulus").Get() == cfg.youngs_modulus
assert prim.GetAttribute("physxDeformableBodyMaterial:poissonsRatio").Get() == cfg.poissons_ratio
assert prim.GetAttribute("physxDeformableBodyMaterial:elasticityDamping").Get() == pytest.approx(
cfg.elasticity_damping
)
assert prim.GetAttribute("physxDeformableBodyMaterial:dampingScale").Get() == cfg.damping_scale
def test_apply_rigid_body_material_on_visual_material(sim):
"""Test applying a rigid body material on a visual material."""
cfg = sim_utils.materials.GlassMdlCfg(thin_walled=False, glass_ior=1.0, glass_color=(0.0, 1.0, 0.0))
prim = cfg.func("/Looks/Material", cfg)
cfg = sim_utils.materials.RigidBodyMaterialCfg(
dynamic_friction=1.5,
restitution=1.5,
static_friction=0.5,
restitution_combine_mode="max",
friction_combine_mode="max",
)
prim = cfg.func("/Looks/Material", cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/Looks/Material").IsValid()
# Check properties
assert prim.GetAttribute("physics:staticFriction").Get() == cfg.static_friction
assert prim.GetAttribute("physics:dynamicFriction").Get() == cfg.dynamic_friction
assert prim.GetAttribute("physics:restitution").Get() == cfg.restitution
assert prim.GetAttribute("physxMaterial:restitutionCombineMode").Get() == cfg.restitution_combine_mode
assert prim.GetAttribute("physxMaterial:frictionCombineMode").Get() == cfg.friction_combine_mode
def test_bind_prim_to_material(sim):
"""Test binding a rigid body material on a mesh prim."""
# create a mesh prim
object_prim = sim_utils.create_prim("/World/Geometry/box", "Cube")
UsdPhysics.CollisionAPI.Apply(object_prim)
# create a visual material
visual_material_cfg = sim_utils.GlassMdlCfg(glass_ior=1.0, thin_walled=True)
visual_material_cfg.func("/World/Looks/glassMaterial", visual_material_cfg)
# create a physics material
physics_material_cfg = sim_utils.RigidBodyMaterialCfg(static_friction=0.5, dynamic_friction=1.5, restitution=1.5)
physics_material_cfg.func("/World/Physics/rubberMaterial", physics_material_cfg)
sim_utils.bind_visual_material("/World/Geometry/box", "/World/Looks/glassMaterial")
sim_utils.bind_physics_material("/World/Geometry/box", "/World/Physics/rubberMaterial")
# check the material binding
material_binding_api = UsdShade.MaterialBindingAPI(object_prim)
# -- visual material
material_direct_binding = material_binding_api.GetDirectBinding()
assert material_direct_binding.GetMaterialPath() == "/World/Looks/glassMaterial"
assert material_direct_binding.GetMaterialPurpose() == ""
# -- physics material
material_direct_binding = material_binding_api.GetDirectBinding("physics")
assert material_direct_binding.GetMaterialPath() == "/World/Physics/rubberMaterial"
assert material_direct_binding.GetMaterialPurpose() == "physics"
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