# 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 """ Unit tests for retargeters. """ from isaaclab.app import AppLauncher # Can set this to False to see the GUI for debugging. HEADLESS = True # Launch omniverse app. app_launcher = AppLauncher(headless=HEADLESS) simulation_app = app_launcher.app import sys import unittest from unittest.mock import MagicMock, patch import numpy as np import torch # Mock dependencies that might require a running simulation or specific hardware sys.modules["isaaclab.markers"] = MagicMock() sys.modules["isaaclab.markers.config"] = MagicMock() sys.modules["isaaclab.sim"] = MagicMock() sys.modules["isaaclab.sim.SimulationContext"] = MagicMock() # Mock SimulationContext instance mock_sim_context = MagicMock() mock_sim_context.get_rendering_dt.return_value = 0.016 # 60Hz sys.modules["isaaclab.sim"].SimulationContext.instance.return_value = mock_sim_context # Import after mocking from isaaclab.devices.device_base import DeviceBase from isaaclab.devices.openxr.retargeters.humanoid.unitree.g1_lower_body_standing import ( G1LowerBodyStandingRetargeter, G1LowerBodyStandingRetargeterCfg, ) from isaaclab.devices.openxr.retargeters.humanoid.unitree.g1_motion_controller_locomotion import ( G1LowerBodyStandingMotionControllerRetargeter, G1LowerBodyStandingMotionControllerRetargeterCfg, ) from isaaclab.devices.openxr.retargeters.manipulator.gripper_retargeter import GripperRetargeter, GripperRetargeterCfg from isaaclab.devices.openxr.retargeters.manipulator.se3_abs_retargeter import Se3AbsRetargeter, Se3AbsRetargeterCfg from isaaclab.devices.openxr.retargeters.manipulator.se3_rel_retargeter import Se3RelRetargeter, Se3RelRetargeterCfg # Mock dex retargeting utils with patch.dict( sys.modules, { "isaaclab.devices.openxr.retargeters.humanoid.unitree.inspire.g1_dex_retargeting_utils": MagicMock(), "isaaclab.devices.openxr.retargeters.humanoid.fourier.gr1_t2_dex_retargeting_utils": MagicMock(), "isaaclab.devices.openxr.retargeters.humanoid.unitree.trihand.g1_dex_retargeting_utils": MagicMock(), }, ): from isaaclab.devices.openxr.retargeters.humanoid.fourier.gr1t2_retargeter import ( GR1T2Retargeter, GR1T2RetargeterCfg, ) from isaaclab.devices.openxr.retargeters.humanoid.unitree.inspire.g1_upper_body_retargeter import ( UnitreeG1Retargeter, UnitreeG1RetargeterCfg, ) from isaaclab.devices.openxr.retargeters.humanoid.unitree.trihand.g1_upper_body_motion_ctrl_gripper import ( G1TriHandUpperBodyMotionControllerGripperRetargeter, G1TriHandUpperBodyMotionControllerGripperRetargeterCfg, ) from isaaclab.devices.openxr.retargeters.humanoid.unitree.trihand.g1_upper_body_motion_ctrl_retargeter import ( G1TriHandUpperBodyMotionControllerRetargeter, G1TriHandUpperBodyMotionControllerRetargeterCfg, ) from isaaclab.devices.openxr.retargeters.humanoid.unitree.trihand.g1_upper_body_retargeter import ( G1TriHandUpperBodyRetargeter, G1TriHandUpperBodyRetargeterCfg, ) class TestSe3AbsRetargeter(unittest.TestCase): def setUp(self): self.cfg = Se3AbsRetargeterCfg( bound_hand=DeviceBase.TrackingTarget.HAND_RIGHT, enable_visualization=False, sim_device="cpu" ) self.retargeter = Se3AbsRetargeter(self.cfg) def test_retarget_defaults(self): # Mock input data wrist_pose = np.array([0.1, 0.2, 0.3, 1.0, 0.0, 0.0, 0.0]) thumb_tip_pose = np.array([0.15, 0.25, 0.35, 1.0, 0.0, 0.0, 0.0]) index_tip_pose = np.array([0.15, 0.20, 0.35, 1.0, 0.0, 0.0, 0.0]) data = { DeviceBase.TrackingTarget.HAND_RIGHT: { "wrist": wrist_pose, "thumb_tip": thumb_tip_pose, "index_tip": index_tip_pose, } } result = self.retargeter.retarget(data) self.assertIsInstance(result, torch.Tensor) self.assertEqual(result.shape, (7,)) np.testing.assert_allclose(result[:3].numpy(), wrist_pose[:3], rtol=1e-5) self.assertAlmostEqual(torch.norm(result[3:]).item(), 1.0, places=4) def test_pinch_position(self): self.cfg.use_wrist_position = False retargeter = Se3AbsRetargeter(self.cfg) wrist_pose = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]) thumb_tip_pose = np.array([1.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]) index_tip_pose = np.array([3.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]) data = { DeviceBase.TrackingTarget.HAND_RIGHT: { "wrist": wrist_pose, "thumb_tip": thumb_tip_pose, "index_tip": index_tip_pose, } } result = retargeter.retarget(data) expected_pos = np.array([2.0, 0.0, 0.0]) np.testing.assert_allclose(result[:3].numpy(), expected_pos, rtol=1e-5) class TestSe3RelRetargeter(unittest.TestCase): def setUp(self): self.cfg = Se3RelRetargeterCfg( bound_hand=DeviceBase.TrackingTarget.HAND_LEFT, enable_visualization=False, sim_device="cpu", delta_pos_scale_factor=1.0, delta_rot_scale_factor=1.0, alpha_pos=1.0, alpha_rot=1.0, ) self.retargeter = Se3RelRetargeter(self.cfg) def test_retarget_movement(self): wrist_pose_1 = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]) thumb_tip_pose_1 = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]) index_tip_pose_1 = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]) data_1 = { DeviceBase.TrackingTarget.HAND_LEFT: { "wrist": wrist_pose_1, "thumb_tip": thumb_tip_pose_1, "index_tip": index_tip_pose_1, } } _ = self.retargeter.retarget(data_1) wrist_pose_2 = np.array([0.1, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]) thumb_tip_pose_2 = np.array([0.1, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]) index_tip_pose_2 = np.array([0.1, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]) data_2 = { DeviceBase.TrackingTarget.HAND_LEFT: { "wrist": wrist_pose_2, "thumb_tip": thumb_tip_pose_2, "index_tip": index_tip_pose_2, } } result = self.retargeter.retarget(data_2) self.assertEqual(result.shape, (6,)) np.testing.assert_allclose(result[:3].numpy(), [0.1, 0.0, 0.0], rtol=1e-4) class TestGripperRetargeter(unittest.TestCase): def setUp(self): self.cfg = GripperRetargeterCfg(bound_hand=DeviceBase.TrackingTarget.HAND_RIGHT, sim_device="cpu") self.retargeter = GripperRetargeter(self.cfg) def test_gripper_logic(self): data_open = { DeviceBase.TrackingTarget.HAND_RIGHT: { "thumb_tip": np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]), "index_tip": np.array([0.1, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]), } } result = self.retargeter.retarget(data_open) self.assertEqual(result.item(), 1.0) data_close = { DeviceBase.TrackingTarget.HAND_RIGHT: { "thumb_tip": np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]), "index_tip": np.array([0.02, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]), } } result = self.retargeter.retarget(data_close) self.assertEqual(result.item(), -1.0) class TestG1LowerBodyStandingRetargeter(unittest.TestCase): def test_retarget(self): cfg = G1LowerBodyStandingRetargeterCfg(hip_height=0.8, sim_device="cpu") retargeter = G1LowerBodyStandingRetargeter(cfg) result = retargeter.retarget({}) self.assertTrue(torch.equal(result, torch.tensor([0.0, 0.0, 0.0, 0.8]))) class TestUnitreeG1Retargeter(unittest.TestCase): @patch( "isaaclab.devices.openxr.retargeters.humanoid.unitree.inspire.g1_upper_body_retargeter.UnitreeG1DexRetargeting" ) def test_retarget(self, mock_dex_retargeting_cls): mock_dex_retargeting = mock_dex_retargeting_cls.return_value mock_dex_retargeting.get_joint_names.return_value = ["joint1", "joint2"] mock_dex_retargeting.get_left_joint_names.return_value = ["joint1"] mock_dex_retargeting.get_right_joint_names.return_value = ["joint2"] mock_dex_retargeting.compute_left.return_value = np.array([0.1]) mock_dex_retargeting.compute_right.return_value = np.array([0.2]) cfg = UnitreeG1RetargeterCfg( enable_visualization=False, sim_device="cpu", hand_joint_names=["joint1", "joint2"] ) retargeter = UnitreeG1Retargeter(cfg) wrist_pose = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]) data = { DeviceBase.TrackingTarget.HAND_LEFT: {"wrist": wrist_pose}, DeviceBase.TrackingTarget.HAND_RIGHT: {"wrist": wrist_pose}, } result = retargeter.retarget(data) self.assertEqual(result.shape, (16,)) class TestGR1T2Retargeter(unittest.TestCase): @patch("isaaclab.devices.openxr.retargeters.humanoid.fourier.gr1t2_retargeter.GR1TR2DexRetargeting") def test_retarget(self, mock_dex_retargeting_cls): mock_dex_retargeting = mock_dex_retargeting_cls.return_value mock_dex_retargeting.get_joint_names.return_value = ["joint1", "joint2"] mock_dex_retargeting.get_left_joint_names.return_value = ["joint1"] mock_dex_retargeting.get_right_joint_names.return_value = ["joint2"] mock_dex_retargeting.compute_left.return_value = np.array([0.1]) mock_dex_retargeting.compute_right.return_value = np.array([0.2]) cfg = GR1T2RetargeterCfg(enable_visualization=False, sim_device="cpu", hand_joint_names=["joint1", "joint2"]) retargeter = GR1T2Retargeter(cfg) wrist_pose = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]) data = { DeviceBase.TrackingTarget.HAND_LEFT: {"wrist": wrist_pose}, DeviceBase.TrackingTarget.HAND_RIGHT: {"wrist": wrist_pose}, } result = retargeter.retarget(data) self.assertEqual(result.shape, (16,)) class TestG1LowerBodyStandingMotionControllerRetargeter(unittest.TestCase): def test_retarget(self): cfg = G1LowerBodyStandingMotionControllerRetargeterCfg( hip_height=0.8, movement_scale=1.0, rotation_scale=1.0, sim_device="cpu" ) retargeter = G1LowerBodyStandingMotionControllerRetargeter(cfg) # Mock input data # Inputs array structure: [thumbstick_x, thumbstick_y, trigger, squeeze, button_0, button_1, padding] left_inputs = np.zeros(7) left_inputs[0] = 0.5 # thumbstick x left_inputs[1] = 0.5 # thumbstick y right_inputs = np.zeros(7) right_inputs[0] = -0.5 # thumbstick x right_inputs[1] = -0.5 # thumbstick y data = { DeviceBase.TrackingTarget.CONTROLLER_LEFT: [np.zeros(7), left_inputs], DeviceBase.TrackingTarget.CONTROLLER_RIGHT: [np.zeros(7), right_inputs], } result = retargeter.retarget(data) # Output: [-left_thumbstick_y, -left_thumbstick_x, -right_thumbstick_x, hip_height] # hip_height modified by right_thumbstick_y self.assertEqual(result.shape, (4,)) self.assertAlmostEqual(result[0].item(), -0.5) # -left y self.assertAlmostEqual(result[1].item(), -0.5) # -left x self.assertAlmostEqual(result[2].item(), 0.5) # -right x # Check hip height modification logic if needed, but basic execution is key here class TestG1TriHandUpperBodyMotionControllerGripperRetargeter(unittest.TestCase): def test_retarget(self): cfg = G1TriHandUpperBodyMotionControllerGripperRetargeterCfg( threshold_high=0.6, threshold_low=0.4, sim_device="cpu" ) retargeter = G1TriHandUpperBodyMotionControllerGripperRetargeter(cfg) pose = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]) inputs_trigger_high = np.zeros(7) inputs_trigger_high[2] = 0.8 # Trigger inputs_trigger_low = np.zeros(7) inputs_trigger_low[2] = 0.2 # Trigger data = { DeviceBase.TrackingTarget.CONTROLLER_LEFT: [pose, inputs_trigger_high], DeviceBase.TrackingTarget.CONTROLLER_RIGHT: [pose, inputs_trigger_low], } result = retargeter.retarget(data) # Output: [left_state, right_state, left_wrist(7), right_wrist(7)] self.assertEqual(result.shape, (16,)) self.assertEqual(result[0].item(), 1.0) # Left closed self.assertEqual(result[1].item(), 0.0) # Right open class TestG1TriHandUpperBodyMotionControllerRetargeter(unittest.TestCase): def test_retarget(self): cfg = G1TriHandUpperBodyMotionControllerRetargeterCfg( hand_joint_names=["dummy"] * 14, # Not really used in logic, just passed to config sim_device="cpu", enable_visualization=False, ) retargeter = G1TriHandUpperBodyMotionControllerRetargeter(cfg) pose = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]) inputs = np.zeros(7) data = { DeviceBase.TrackingTarget.CONTROLLER_LEFT: [pose, inputs], DeviceBase.TrackingTarget.CONTROLLER_RIGHT: [pose, inputs], } result = retargeter.retarget(data) # Output: [left_wrist(7), right_wrist(7), hand_joints(14)] self.assertEqual(result.shape, (28,)) class TestG1TriHandUpperBodyRetargeter(unittest.TestCase): @patch( "isaaclab.devices.openxr.retargeters.humanoid.unitree.trihand.g1_upper_body_retargeter.G1TriHandDexRetargeting" ) def test_retarget(self, mock_dex_retargeting_cls): mock_dex_retargeting = mock_dex_retargeting_cls.return_value mock_dex_retargeting.get_joint_names.return_value = ["joint1", "joint2"] mock_dex_retargeting.get_left_joint_names.return_value = ["joint1"] mock_dex_retargeting.get_right_joint_names.return_value = ["joint2"] mock_dex_retargeting.compute_left.return_value = np.array([0.1]) mock_dex_retargeting.compute_right.return_value = np.array([0.2]) cfg = G1TriHandUpperBodyRetargeterCfg( enable_visualization=False, sim_device="cpu", hand_joint_names=["joint1", "joint2"] ) retargeter = G1TriHandUpperBodyRetargeter(cfg) wrist_pose = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]) data = { DeviceBase.TrackingTarget.HAND_LEFT: {"wrist": wrist_pose}, DeviceBase.TrackingTarget.HAND_RIGHT: {"wrist": wrist_pose}, } result = retargeter.retarget(data) # Output: [left_wrist(7), right_wrist(7), joints(2)] self.assertEqual(result.shape, (16,)) if __name__ == "__main__": unittest.main()