# 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 from pxr import UsdPhysics, UsdShade import isaaclab.sim as sim_utils from isaaclab.utils.assets import NVIDIA_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_preview_surface(sim): """Test spawning preview surface.""" cfg = sim_utils.materials.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0)) prim = cfg.func("/Looks/PreviewSurface", cfg) # Check validity assert prim.IsValid() assert sim.stage.GetPrimAtPath("/Looks/PreviewSurface").IsValid() assert prim.GetPrimTypeInfo().GetTypeName() == "Shader" # Check properties assert prim.GetAttribute("inputs:diffuseColor").Get() == cfg.diffuse_color def test_spawn_mdl_material(sim): """Test spawning mdl material.""" cfg = sim_utils.materials.MdlFileCfg( mdl_path=f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Metals/Aluminum_Anodized.mdl", project_uvw=True, albedo_brightness=0.5, ) prim = cfg.func("/Looks/MdlMaterial", cfg) # Check validity assert prim.IsValid() assert sim.stage.GetPrimAtPath("/Looks/MdlMaterial").IsValid() assert prim.GetPrimTypeInfo().GetTypeName() == "Shader" # Check properties assert prim.GetAttribute("inputs:project_uvw").Get() == cfg.project_uvw assert prim.GetAttribute("inputs:albedo_brightness").Get() == cfg.albedo_brightness def test_spawn_glass_mdl_material(sim): """Test spawning a glass mdl material.""" cfg = sim_utils.materials.GlassMdlCfg(thin_walled=False, glass_ior=1.0, glass_color=(0.0, 1.0, 0.0)) prim = cfg.func("/Looks/GlassMaterial", cfg) # Check validity assert prim.IsValid() assert sim.stage.GetPrimAtPath("/Looks/GlassMaterial").IsValid() assert prim.GetPrimTypeInfo().GetTypeName() == "Shader" # Check properties assert prim.GetAttribute("inputs:thin_walled").Get() == cfg.thin_walled assert prim.GetAttribute("inputs:glass_ior").Get() == cfg.glass_ior assert prim.GetAttribute("inputs:glass_color").Get() == cfg.glass_color def test_spawn_rigid_body_material(sim): """Test spawning a rigid body material.""" cfg = sim_utils.materials.RigidBodyMaterialCfg( dynamic_friction=1.5, restitution=1.5, static_friction=0.5, restitution_combine_mode="max", friction_combine_mode="max", ) prim = cfg.func("/Looks/RigidBodyMaterial", cfg) # Check validity assert prim.IsValid() assert sim.stage.GetPrimAtPath("/Looks/RigidBodyMaterial").IsValid() # Check properties assert prim.GetAttribute("physics:staticFriction").Get() == cfg.static_friction assert prim.GetAttribute("physics:dynamicFriction").Get() == cfg.dynamic_friction assert prim.GetAttribute("physics:restitution").Get() == cfg.restitution assert prim.GetAttribute("physxMaterial:restitutionCombineMode").Get() == cfg.restitution_combine_mode assert prim.GetAttribute("physxMaterial:frictionCombineMode").Get() == cfg.friction_combine_mode def test_spawn_deformable_body_material(sim): """Test spawning a deformable body material.""" cfg = sim_utils.materials.DeformableBodyMaterialCfg( density=1.0, dynamic_friction=0.25, youngs_modulus=50000000.0, poissons_ratio=0.5, elasticity_damping=0.005, damping_scale=1.0, ) prim = cfg.func("/Looks/DeformableBodyMaterial", cfg) # Check validity assert prim.IsValid() assert sim.stage.GetPrimAtPath("/Looks/DeformableBodyMaterial").IsValid() # Check properties assert prim.GetAttribute("physxDeformableBodyMaterial:density").Get() == cfg.density assert prim.GetAttribute("physxDeformableBodyMaterial:dynamicFriction").Get() == cfg.dynamic_friction assert prim.GetAttribute("physxDeformableBodyMaterial:youngsModulus").Get() == cfg.youngs_modulus assert prim.GetAttribute("physxDeformableBodyMaterial:poissonsRatio").Get() == cfg.poissons_ratio assert prim.GetAttribute("physxDeformableBodyMaterial:elasticityDamping").Get() == pytest.approx( cfg.elasticity_damping ) assert prim.GetAttribute("physxDeformableBodyMaterial:dampingScale").Get() == cfg.damping_scale def test_apply_rigid_body_material_on_visual_material(sim): """Test applying a rigid body material on a visual material.""" cfg = sim_utils.materials.GlassMdlCfg(thin_walled=False, glass_ior=1.0, glass_color=(0.0, 1.0, 0.0)) prim = cfg.func("/Looks/Material", cfg) cfg = sim_utils.materials.RigidBodyMaterialCfg( dynamic_friction=1.5, restitution=1.5, static_friction=0.5, restitution_combine_mode="max", friction_combine_mode="max", ) prim = cfg.func("/Looks/Material", cfg) # Check validity assert prim.IsValid() assert sim.stage.GetPrimAtPath("/Looks/Material").IsValid() # Check properties assert prim.GetAttribute("physics:staticFriction").Get() == cfg.static_friction assert prim.GetAttribute("physics:dynamicFriction").Get() == cfg.dynamic_friction assert prim.GetAttribute("physics:restitution").Get() == cfg.restitution assert prim.GetAttribute("physxMaterial:restitutionCombineMode").Get() == cfg.restitution_combine_mode assert prim.GetAttribute("physxMaterial:frictionCombineMode").Get() == cfg.friction_combine_mode def test_bind_prim_to_material(sim): """Test binding a rigid body material on a mesh prim.""" # create a mesh prim object_prim = sim_utils.create_prim("/World/Geometry/box", "Cube") UsdPhysics.CollisionAPI.Apply(object_prim) # create a visual material visual_material_cfg = sim_utils.GlassMdlCfg(glass_ior=1.0, thin_walled=True) visual_material_cfg.func("/World/Looks/glassMaterial", visual_material_cfg) # create a physics material physics_material_cfg = sim_utils.RigidBodyMaterialCfg(static_friction=0.5, dynamic_friction=1.5, restitution=1.5) physics_material_cfg.func("/World/Physics/rubberMaterial", physics_material_cfg) sim_utils.bind_visual_material("/World/Geometry/box", "/World/Looks/glassMaterial") sim_utils.bind_physics_material("/World/Geometry/box", "/World/Physics/rubberMaterial") # check the material binding material_binding_api = UsdShade.MaterialBindingAPI(object_prim) # -- visual material material_direct_binding = material_binding_api.GetDirectBinding() assert material_direct_binding.GetMaterialPath() == "/World/Looks/glassMaterial" assert material_direct_binding.GetMaterialPurpose() == "" # -- physics material material_direct_binding = material_binding_api.GetDirectBinding("physics") assert material_direct_binding.GetMaterialPath() == "/World/Physics/rubberMaterial" assert material_direct_binding.GetMaterialPurpose() == "physics"