File size: 3,570 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 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 | # 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 Usd
import isaaclab.sim as sim_utils
from isaaclab.sim.spawners.sensors.sensors import CUSTOM_FISHEYE_CAMERA_ATTRIBUTES, CUSTOM_PINHOLE_CAMERA_ATTRIBUTES
from isaaclab.utils.string import to_camel_case
@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()
"""
Basic spawning.
"""
def test_spawn_pinhole_camera(sim):
"""Test spawning a pinhole camera."""
cfg = sim_utils.PinholeCameraCfg(
focal_length=5.0, f_stop=10.0, clipping_range=(0.1, 1000.0), horizontal_aperture=10.0
)
prim = cfg.func("/World/pinhole_camera", cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/World/pinhole_camera").IsValid()
assert prim.GetPrimTypeInfo().GetTypeName() == "Camera"
# Check properties
_validate_properties_on_prim(prim, cfg, CUSTOM_PINHOLE_CAMERA_ATTRIBUTES)
def test_spawn_fisheye_camera(sim):
"""Test spawning a fisheye camera."""
cfg = sim_utils.FisheyeCameraCfg(
projection_type="fisheyePolynomial",
focal_length=5.0,
f_stop=10.0,
clipping_range=(0.1, 1000.0),
horizontal_aperture=10.0,
)
# FIXME: This throws a warning. Check with Replicator team if this is expected/known.
# [omni.hydra] Camera '/World/fisheye_camera': Unknown projection type, defaulting to pinhole
prim = cfg.func("/World/fisheye_camera", cfg)
# Check validity
assert prim.IsValid()
assert sim.stage.GetPrimAtPath("/World/fisheye_camera").IsValid()
assert prim.GetPrimTypeInfo().GetTypeName() == "Camera"
# Check properties
_validate_properties_on_prim(prim, cfg, CUSTOM_FISHEYE_CAMERA_ATTRIBUTES)
"""
Helper functions.
"""
def _validate_properties_on_prim(prim: Usd.Prim, cfg: object, custom_attr: dict):
"""Validate the properties on the prim.
Args:
prim: The prim.
cfg: The configuration object.
custom_attr: The custom attributes for sensor.
"""
# delete custom attributes in the config that are not USD parameters
non_usd_cfg_param_names = [
"func",
"copy_from_source",
"lock_camera",
"visible",
"semantic_tags",
"from_intrinsic_matrix",
]
# validate the properties
for attr_name, attr_value in cfg.__dict__.items():
# skip names we know are not present
if attr_name in non_usd_cfg_param_names or attr_value is None:
continue
# obtain prim property name
if attr_name in custom_attr:
# check custom attributes
prim_prop_name = custom_attr[attr_name][0]
else:
# convert attribute name in prim to cfg name
prim_prop_name = to_camel_case(attr_name, to="cC")
# validate the values
assert prim.GetAttribute(prim_prop_name).Get() == pytest.approx(attr_value, rel=1e-5)
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