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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 pytest
from isaacsim.core.api.simulation_context import SimulationContext
import isaaclab.sim as sim_utils
@pytest.fixture
def sim():
"""Create a simulation context for testing."""
# 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, device="cuda:0")
# Wait for spawning
sim_utils.update_stage()
yield sim
# Cleanup
sim.stop()
sim.clear()
sim.clear_all_callbacks()
sim.clear_instance()
"""
Basic spawning.
"""
def test_spawn_cone(sim):
"""Test spawning of UsdGeomMesh as a cone prim."""
# Spawn cone
cfg = sim_utils.MeshConeCfg(radius=1.0, height=2.0, axis="Y")
prim = cfg.func("/World/Cone", cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/World/Cone").IsValid()
assert prim.GetPrimTypeInfo().GetTypeName() == "Xform"
# Check properties
prim = sim.stage.GetPrimAtPath("/World/Cone/geometry/mesh")
assert prim.GetPrimTypeInfo().GetTypeName() == "Mesh"
def test_spawn_capsule(sim):
"""Test spawning of UsdGeomMesh as a capsule prim."""
# Spawn capsule
cfg = sim_utils.MeshCapsuleCfg(radius=1.0, height=2.0, axis="Y")
prim = cfg.func("/World/Capsule", cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/World/Capsule").IsValid()
assert prim.GetPrimTypeInfo().GetTypeName() == "Xform"
# Check properties
prim = sim.stage.GetPrimAtPath("/World/Capsule/geometry/mesh")
assert prim.GetPrimTypeInfo().GetTypeName() == "Mesh"
def test_spawn_cylinder(sim):
"""Test spawning of UsdGeomMesh as a cylinder prim."""
# Spawn cylinder
cfg = sim_utils.MeshCylinderCfg(radius=1.0, height=2.0, axis="Y")
prim = cfg.func("/World/Cylinder", cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/World/Cylinder").IsValid()
assert prim.GetPrimTypeInfo().GetTypeName() == "Xform"
# Check properties
prim = sim.stage.GetPrimAtPath("/World/Cylinder/geometry/mesh")
assert prim.GetPrimTypeInfo().GetTypeName() == "Mesh"
def test_spawn_cuboid(sim):
"""Test spawning of UsdGeomMesh as a cuboid prim."""
# Spawn cuboid
cfg = sim_utils.MeshCuboidCfg(size=(1.0, 2.0, 3.0))
prim = cfg.func("/World/Cube", cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/World/Cube").IsValid()
assert prim.GetPrimTypeInfo().GetTypeName() == "Xform"
# Check properties
prim = sim.stage.GetPrimAtPath("/World/Cube/geometry/mesh")
assert prim.GetPrimTypeInfo().GetTypeName() == "Mesh"
def test_spawn_sphere(sim):
"""Test spawning of UsdGeomMesh as a sphere prim."""
# Spawn sphere
cfg = sim_utils.MeshSphereCfg(radius=1.0)
prim = cfg.func("/World/Sphere", cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/World/Sphere").IsValid()
assert prim.GetPrimTypeInfo().GetTypeName() == "Xform"
# Check properties
prim = sim.stage.GetPrimAtPath("/World/Sphere/geometry/mesh")
assert prim.GetPrimTypeInfo().GetTypeName() == "Mesh"
"""
Physics properties.
"""
def test_spawn_cone_with_deformable_props(sim):
"""Test spawning of UsdGeomMesh prim for a cone with deformable body API."""
# Spawn cone
cfg = sim_utils.MeshConeCfg(
radius=1.0,
height=2.0,
deformable_props=sim_utils.DeformableBodyPropertiesCfg(deformable_enabled=True),
)
prim = cfg.func("/World/Cone", cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/World/Cone").IsValid()
# Check properties
# Unlike rigid body, deformable body properties are on the mesh prim
prim = sim.stage.GetPrimAtPath("/World/Cone/geometry/mesh")
assert prim.GetAttribute("physxDeformable:deformableEnabled").Get() == cfg.deformable_props.deformable_enabled
def test_spawn_cone_with_deformable_and_mass_props(sim):
"""Test spawning of UsdGeomMesh prim for a cone with deformable body and mass API."""
# Spawn cone
cfg = sim_utils.MeshConeCfg(
radius=1.0,
height=2.0,
deformable_props=sim_utils.DeformableBodyPropertiesCfg(deformable_enabled=True),
mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
)
prim = cfg.func("/World/Cone", cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/World/Cone").IsValid()
# Check properties
prim = sim.stage.GetPrimAtPath("/World/Cone/geometry/mesh")
assert prim.GetAttribute("physics:mass").Get() == cfg.mass_props.mass
# check sim playing
sim.play()
for _ in range(10):
sim.step()
def test_spawn_cone_with_deformable_and_density_props(sim):
"""Test spawning of UsdGeomMesh prim for a cone with deformable body and mass API.
Note:
In this case, we specify the density instead of the mass. In that case, physics need to know
the collision shape to compute the mass. Thus, we have to set the collider properties. In
order to not have a collision shape, we disable the collision.
"""
# Spawn cone
cfg = sim_utils.MeshConeCfg(
radius=1.0,
height=2.0,
deformable_props=sim_utils.DeformableBodyPropertiesCfg(deformable_enabled=True),
mass_props=sim_utils.MassPropertiesCfg(density=10.0),
)
prim = cfg.func("/World/Cone", cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/World/Cone").IsValid()
# Check properties
prim = sim.stage.GetPrimAtPath("/World/Cone/geometry/mesh")
assert prim.GetAttribute("physics:density").Get() == cfg.mass_props.density
# check sim playing
sim.play()
for _ in range(10):
sim.step()
def test_spawn_cone_with_all_deformable_props(sim):
"""Test spawning of UsdGeomMesh prim for a cone with all deformable properties."""
# Spawn cone
cfg = sim_utils.MeshConeCfg(
radius=1.0,
height=2.0,
mass_props=sim_utils.MassPropertiesCfg(mass=5.0),
deformable_props=sim_utils.DeformableBodyPropertiesCfg(),
visual_material=sim_utils.materials.PreviewSurfaceCfg(diffuse_color=(0.0, 0.75, 0.5)),
physics_material=sim_utils.materials.DeformableBodyMaterialCfg(),
)
prim = cfg.func("/World/Cone", cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/World/Cone").IsValid()
assert sim.stage.GetPrimAtPath("/World/Cone/geometry/material").IsValid()
# Check properties
# -- deformable body
prim = sim.stage.GetPrimAtPath("/World/Cone/geometry/mesh")
assert prim.GetAttribute("physxDeformable:deformableEnabled").Get() is True
# check sim playing
sim.play()
for _ in range(10):
sim.step()
def test_spawn_cone_with_all_rigid_props(sim):
"""Test spawning of UsdGeomMesh prim for a cone with all rigid properties."""
# Spawn cone
cfg = sim_utils.MeshConeCfg(
radius=1.0,
height=2.0,
mass_props=sim_utils.MassPropertiesCfg(mass=5.0),
rigid_props=sim_utils.RigidBodyPropertiesCfg(
rigid_body_enabled=True, solver_position_iteration_count=8, sleep_threshold=0.1
),
collision_props=sim_utils.CollisionPropertiesCfg(),
visual_material=sim_utils.materials.PreviewSurfaceCfg(diffuse_color=(0.0, 0.75, 0.5)),
physics_material=sim_utils.materials.RigidBodyMaterialCfg(),
)
prim = cfg.func("/World/Cone", cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/World/Cone").IsValid()
assert sim.stage.GetPrimAtPath("/World/Cone/geometry/material").IsValid()
# Check properties
# -- rigid body
prim = sim.stage.GetPrimAtPath("/World/Cone")
assert prim.GetAttribute("physics:rigidBodyEnabled").Get() == cfg.rigid_props.rigid_body_enabled
assert (
prim.GetAttribute("physxRigidBody:solverPositionIterationCount").Get()
== cfg.rigid_props.solver_position_iteration_count
)
assert prim.GetAttribute("physxRigidBody:sleepThreshold").Get() == pytest.approx(cfg.rigid_props.sleep_threshold)
# -- mass
assert prim.GetAttribute("physics:mass").Get() == cfg.mass_props.mass
# -- collision shape
prim = sim.stage.GetPrimAtPath("/World/Cone/geometry/mesh")
assert prim.GetAttribute("physics:collisionEnabled").Get() is True
# check sim playing
sim.play()
for _ in range(10):
sim.step()
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