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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 | # 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 os
import numpy as np
import pytest
from packaging.version import Version
import omni.kit.app
from isaacsim.core.api.simulation_context import SimulationContext
from isaacsim.core.prims import Articulation
import isaaclab.sim as sim_utils
from isaaclab.sim.converters import UrdfConverter, UrdfConverterCfg
from isaaclab.utils.version import get_isaac_sim_version
# Create a fixture for setup and teardown
@pytest.fixture
def sim_config():
# Create a new stage
sim_utils.create_new_stage()
# 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"
# obtain the extension path
extension_id = manager.get_enabled_extension_id(pinned_urdf_extension_name)
extension_path = manager.get_extension_path(extension_id)
# default configuration
config = UrdfConverterCfg(
asset_path=f"{extension_path}/data/urdf/robots/franka_description/robots/panda_arm_hand.urdf",
fix_base=True,
joint_drive=UrdfConverterCfg.JointDriveCfg(
gains=UrdfConverterCfg.JointDriveCfg.PDGainsCfg(stiffness=400.0, damping=40.0)
),
)
# Simulation time-step
dt = 0.01
# Load kit helper
sim = SimulationContext(physics_dt=dt, rendering_dt=dt, stage_units_in_meters=1.0, backend="numpy")
yield sim, config
# Teardown
sim.stop()
sim.clear()
sim.clear_all_callbacks()
sim.clear_instance()
@pytest.mark.isaacsim_ci
def test_no_change(sim_config):
"""Call conversion twice. This should not generate a new USD file."""
sim, config = sim_config
urdf_converter = UrdfConverter(config)
time_usd_file_created = os.stat(urdf_converter.usd_path).st_mtime_ns
# no change to config only define the usd directory
new_config = config
new_config.usd_dir = urdf_converter.usd_dir
# convert to usd but this time in the same directory as previous step
new_urdf_converter = UrdfConverter(new_config)
new_time_usd_file_created = os.stat(new_urdf_converter.usd_path).st_mtime_ns
assert time_usd_file_created == new_time_usd_file_created
@pytest.mark.isaacsim_ci
def test_config_change(sim_config):
"""Call conversion twice but change the config in the second call. This should generate a new USD file."""
sim, config = sim_config
urdf_converter = UrdfConverter(config)
time_usd_file_created = os.stat(urdf_converter.usd_path).st_mtime_ns
# change the config
new_config = config
new_config.fix_base = not config.fix_base
# define the usd directory
new_config.usd_dir = urdf_converter.usd_dir
# convert to usd but this time in the same directory as previous step
new_urdf_converter = UrdfConverter(new_config)
new_time_usd_file_created = os.stat(new_urdf_converter.usd_path).st_mtime_ns
assert time_usd_file_created != new_time_usd_file_created
@pytest.mark.isaacsim_ci
def test_create_prim_from_usd(sim_config):
"""Call conversion and create a prim from it."""
sim, config = sim_config
urdf_converter = UrdfConverter(config)
prim_path = "/World/Robot"
sim_utils.create_prim(prim_path, usd_path=urdf_converter.usd_path)
assert sim.stage.GetPrimAtPath(prim_path).IsValid()
@pytest.mark.isaacsim_ci
def test_config_drive_type(sim_config):
"""Change the drive mechanism of the robot to be position."""
sim, config = sim_config
# Create directory to dump results
test_dir = os.path.dirname(os.path.abspath(__file__))
output_dir = os.path.join(test_dir, "output", "urdf_converter")
if not os.path.exists(output_dir):
os.makedirs(output_dir, exist_ok=True)
# change the config
config.force_usd_conversion = True
config.joint_drive.target_type = "position"
config.joint_drive.gains.stiffness = 42.0
config.joint_drive.gains.damping = 4.2
config.usd_dir = output_dir
urdf_converter = UrdfConverter(config)
# check the drive type of the robot
prim_path = "/World/Robot"
sim_utils.create_prim(prim_path, usd_path=urdf_converter.usd_path)
# access the robot
robot = Articulation(prim_path, reset_xform_properties=False)
# play the simulator and initialize the robot
sim.reset()
robot.initialize()
# check drive values for the robot (read from physx)
drive_stiffness, drive_damping = robot.get_gains()
np.testing.assert_array_equal(drive_stiffness, config.joint_drive.gains.stiffness)
np.testing.assert_array_equal(drive_damping, config.joint_drive.gains.damping)
# check drive values for the robot (read from usd)
sim.stop()
drive_stiffness, drive_damping = robot.get_gains()
np.testing.assert_array_equal(drive_stiffness, config.joint_drive.gains.stiffness)
np.testing.assert_array_equal(drive_damping, config.joint_drive.gains.damping)
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