File size: 1,696 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 | # 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
from __future__ import annotations
"""Launch Isaac Sim Simulator first."""
from isaaclab.app import AppLauncher
# launch omniverse app
simulation_app = AppLauncher(headless=True).app
"""Rest everything follows."""
import isaaclab.utils.assets as assets_utils
def test_nucleus_connection():
"""Test checking the Nucleus connection."""
# check nucleus connection
assert assets_utils.NUCLEUS_ASSET_ROOT_DIR is not None
def test_check_file_path_nucleus():
"""Test checking a file path on the Nucleus server."""
# robot file path
usd_path = f"{assets_utils.ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
# check file path
assert assets_utils.check_file_path(usd_path) == 2
def test_check_file_path_invalid():
"""Test checking an invalid file path."""
# robot file path
usd_path = f"{assets_utils.ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_xyz.usd"
# check file path
assert assets_utils.check_file_path(usd_path) == 0
def test_check_usd_path_with_timeout():
"""Test checking a USD path with timeout."""
# robot file path
usd_path = f"{assets_utils.ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
# check file path
assert assets_utils.check_usd_path_with_timeout(usd_path) is True
# invalid file path
usd_path = f"{assets_utils.ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_xyz.usd"
# check file path
assert assets_utils.check_usd_path_with_timeout(usd_path) is False
|