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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 | # 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
import isaaclab.sim as sim_utils
from isaaclab.utils.assets import ISAACLAB_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_multiple_shapes_with_global_settings(sim):
"""Test spawning of shapes randomly with global rigid body settings."""
num_clones = 10
for i in range(num_clones):
sim_utils.create_prim(f"/World/env_{i}", "Xform", translation=(i, i, 0))
cfg = sim_utils.MultiAssetSpawnerCfg(
assets_cfg=[
sim_utils.ConeCfg(
radius=0.3,
height=0.6,
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0), metallic=0.2),
mass_props=sim_utils.MassPropertiesCfg(mass=100.0), # this one should get overridden
),
sim_utils.CuboidCfg(
size=(0.3, 0.3, 0.3),
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0), metallic=0.2),
),
sim_utils.SphereCfg(
radius=0.3,
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0), metallic=0.2),
),
],
random_choice=True,
rigid_props=sim_utils.RigidBodyPropertiesCfg(
solver_position_iteration_count=4, solver_velocity_iteration_count=0
),
mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
collision_props=sim_utils.CollisionPropertiesCfg(),
)
prim = cfg.func("/World/env_.*/Cone", cfg)
assert prim.IsValid()
assert str(prim.GetPath()) == "/World/env_0/Cone"
prim_paths = sim_utils.find_matching_prim_paths("/World/env_.*/Cone")
assert len(prim_paths) == num_clones
for prim_path in prim_paths:
prim = sim.stage.GetPrimAtPath(prim_path)
assert prim.GetAttribute("physics:mass").Get() == cfg.mass_props.mass
def test_spawn_multiple_shapes_with_individual_settings(sim):
"""Test spawning of shapes randomly with individual rigid object settings."""
num_clones = 10
for i in range(num_clones):
sim_utils.create_prim(f"/World/env_{i}", "Xform", translation=(i, i, 0))
mass_variations = [2.0, 3.0, 4.0]
cfg = sim_utils.MultiAssetSpawnerCfg(
assets_cfg=[
sim_utils.ConeCfg(
radius=0.3,
height=0.6,
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0), metallic=0.2),
rigid_props=sim_utils.RigidBodyPropertiesCfg(),
mass_props=sim_utils.MassPropertiesCfg(mass=mass_variations[0]),
collision_props=sim_utils.CollisionPropertiesCfg(),
),
sim_utils.CuboidCfg(
size=(0.3, 0.3, 0.3),
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0), metallic=0.2),
rigid_props=sim_utils.RigidBodyPropertiesCfg(),
mass_props=sim_utils.MassPropertiesCfg(mass=mass_variations[1]),
collision_props=sim_utils.CollisionPropertiesCfg(),
),
sim_utils.SphereCfg(
radius=0.3,
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0), metallic=0.2),
rigid_props=sim_utils.RigidBodyPropertiesCfg(),
mass_props=sim_utils.MassPropertiesCfg(mass=mass_variations[2]),
collision_props=sim_utils.CollisionPropertiesCfg(),
),
],
random_choice=True,
)
prim = cfg.func("/World/env_.*/Cone", cfg)
assert prim.IsValid()
assert str(prim.GetPath()) == "/World/env_0/Cone"
prim_paths = sim_utils.find_matching_prim_paths("/World/env_.*/Cone")
assert len(prim_paths) == num_clones
for prim_path in prim_paths:
prim = sim.stage.GetPrimAtPath(prim_path)
assert prim.GetAttribute("physics:mass").Get() in mass_variations
"""
Tests - Multiple USDs.
"""
def test_spawn_multiple_files_with_global_settings(sim):
"""Test spawning of files randomly with global articulation settings."""
num_clones = 10
for i in range(num_clones):
sim_utils.create_prim(f"/World/env_{i}", "Xform", translation=(i, i, 0))
cfg = sim_utils.MultiUsdFileCfg(
usd_path=[
f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd",
f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd",
],
random_choice=True,
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
retain_accelerations=False,
linear_damping=0.0,
angular_damping=0.0,
max_linear_velocity=1000.0,
max_angular_velocity=1000.0,
max_depenetration_velocity=1.0,
),
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
enabled_self_collisions=True, solver_position_iteration_count=4, solver_velocity_iteration_count=0
),
activate_contact_sensors=True,
)
prim = cfg.func("/World/env_.*/Robot", cfg)
assert prim.IsValid()
assert str(prim.GetPath()) == "/World/env_0/Robot"
prim_paths = sim_utils.find_matching_prim_paths("/World/env_.*/Robot")
assert len(prim_paths) == num_clones
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