# 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 import torch from isaacsim.core.api.simulation_context import SimulationContext import isaaclab.sim as sim_utils from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg from isaaclab.markers.config import FRAME_MARKER_CFG, POSITION_GOAL_MARKER_CFG from isaaclab.utils.math import random_orientation from isaaclab.utils.timer import Timer @pytest.fixture def sim(): """Create a blank new stage for each test.""" # Simulation time-step dt = 0.01 # Open a new stage sim_utils.create_new_stage() # Load kit helper sim_context = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="torch", device="cuda:0") yield sim_context # Cleanup sim_context.stop() sim_context.clear_instance() sim_utils.close_stage() def test_instantiation(sim): """Test that the class can be initialized properly.""" config = VisualizationMarkersCfg( prim_path="/World/Visuals/test", markers={ "test": sim_utils.SphereCfg(radius=1.0), }, ) test_marker = VisualizationMarkers(config) print(test_marker) # check number of markers assert test_marker.num_prototypes == 1 def test_usd_marker(sim): """Test with marker from a USD.""" # create a marker config = FRAME_MARKER_CFG.copy() config.prim_path = "/World/Visuals/test_frames" test_marker = VisualizationMarkers(config) # play the simulation sim.reset() # create a buffer num_frames = 0 # run with randomization of poses for count in range(1000): # sample random poses if count % 50 == 0: num_frames = torch.randint(10, 1000, (1,)).item() frame_translations = torch.randn(num_frames, 3, device=sim.device) frame_rotations = random_orientation(num_frames, device=sim.device) # set the marker test_marker.visualize(translations=frame_translations, orientations=frame_rotations) # update the kit sim.step() # asset that count is correct assert test_marker.count == num_frames def test_usd_marker_color(sim): """Test with marker from a USD with its color modified.""" # create a marker config = FRAME_MARKER_CFG.copy() config.prim_path = "/World/Visuals/test_frames" config.markers["frame"].visual_material = sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0)) test_marker = VisualizationMarkers(config) # play the simulation sim.reset() # run with randomization of poses for count in range(1000): # sample random poses if count % 50 == 0: num_frames = torch.randint(10, 1000, (1,)).item() frame_translations = torch.randn(num_frames, 3, device=sim.device) frame_rotations = random_orientation(num_frames, device=sim.device) # set the marker test_marker.visualize(translations=frame_translations, orientations=frame_rotations) # update the kit sim.step() def test_multiple_prototypes_marker(sim): """Test with multiple prototypes of spheres.""" # create a marker config = POSITION_GOAL_MARKER_CFG.copy() config.prim_path = "/World/Visuals/test_protos" test_marker = VisualizationMarkers(config) # play the simulation sim.reset() # run with randomization of poses for count in range(1000): # sample random poses if count % 50 == 0: num_frames = torch.randint(100, 1000, (1,)).item() frame_translations = torch.randn(num_frames, 3, device=sim.device) # randomly choose a prototype marker_indices = torch.randint(0, test_marker.num_prototypes, (num_frames,), device=sim.device) # set the marker test_marker.visualize(translations=frame_translations, marker_indices=marker_indices) # update the kit sim.step() def test_visualization_time_based_on_prototypes(sim): """Test with time taken when number of prototypes is increased.""" # create a marker config = POSITION_GOAL_MARKER_CFG.copy() config.prim_path = "/World/Visuals/test_protos" test_marker = VisualizationMarkers(config) # play the simulation sim.reset() # number of frames num_frames = 4096 # check that visibility is true assert test_marker.is_visible() # run with randomization of poses and indices frame_translations = torch.randn(num_frames, 3, device=sim.device) marker_indices = torch.randint(0, test_marker.num_prototypes, (num_frames,), device=sim.device) # set the marker with Timer("Marker visualization with explicit indices") as timer: test_marker.visualize(translations=frame_translations, marker_indices=marker_indices) # save the time time_with_marker_indices = timer.time_elapsed with Timer("Marker visualization with no indices") as timer: test_marker.visualize(translations=frame_translations) # save the time time_with_no_marker_indices = timer.time_elapsed # update the kit sim.step() # check that the time is less assert time_with_no_marker_indices < time_with_marker_indices def test_visualization_time_based_on_visibility(sim): """Test with visibility of markers. When invisible, the visualize call should return.""" # create a marker config = POSITION_GOAL_MARKER_CFG.copy() config.prim_path = "/World/Visuals/test_protos" test_marker = VisualizationMarkers(config) # play the simulation sim.reset() # number of frames num_frames = 4096 # check that visibility is true assert test_marker.is_visible() # run with randomization of poses and indices frame_translations = torch.randn(num_frames, 3, device=sim.device) marker_indices = torch.randint(0, test_marker.num_prototypes, (num_frames,), device=sim.device) # set the marker with Timer("Marker visualization") as timer: test_marker.visualize(translations=frame_translations, marker_indices=marker_indices) # save the time time_with_visualization = timer.time_elapsed # update the kit sim.step() # make invisible test_marker.set_visibility(False) # check that visibility is false assert not test_marker.is_visible() # run with randomization of poses and indices frame_translations = torch.randn(num_frames, 3, device=sim.device) marker_indices = torch.randint(0, test_marker.num_prototypes, (num_frames,), device=sim.device) # set the marker with Timer("Marker no visualization") as timer: test_marker.visualize(translations=frame_translations, marker_indices=marker_indices) # save the time time_with_no_visualization = timer.time_elapsed # check that the time is less assert time_with_no_visualization < time_with_visualization