# 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 # note: need to enable cameras to be able to make replicator core available simulation_app = AppLauncher(headless=True, enable_cameras=True).app """Rest everything follows.""" import pytest import isaaclab.sim as sim_utils @pytest.fixture(autouse=True) def test_setup_teardown(): """Create a blank new stage for each test.""" # Setup: Create a new stage sim_utils.create_new_stage() sim_utils.update_stage() # Yield for the test yield # Teardown: Clear stage after each test sim_utils.clear_stage() def create_test_environment_with_labels(): """Creates a test environment with objects with labels.""" # create 3 cubes with label "cube" for i in range(3): sim_utils.create_prim(f"/World/Test/Object{i}", "Cube", semantic_label="cube") # create a sphere without any labels sim_utils.create_prim("/World/Test/Object3", "Sphere") # create a nested prim with label "nested" nested_prim = sim_utils.create_prim("/World/Test/Object0/Nested", "Cube") sim_utils.add_labels(nested_prim, ["nested"], instance_name="shape") return [f"/World/Test/Object{i}" for i in range(4)] + [str(nested_prim.GetPrimPath())] """ Tests. """ def test_add_and_get_labels(): """Test add_labels() and get_labels() functions.""" # get stage handle stage = sim_utils.get_current_stage() # create a test prim prim = stage.DefinePrim("/test", "Xform") nested_prim = stage.DefinePrim("/test/nested", "Xform") # Apply semantics sim_utils.add_labels(prim, ["label_a", "label_b"], instance_name="class") sim_utils.add_labels(prim, ["shape_a"], instance_name="shape") sim_utils.add_labels(nested_prim, ["nested_label"], instance_name="class") # Get labels labels_dict = sim_utils.get_labels(prim) # Check labels are added correctly assert "class" in labels_dict assert sorted(labels_dict["class"]) == sorted(["label_a", "label_b"]) assert "shape" in labels_dict assert labels_dict["shape"] == ["shape_a"] nested_labels_dict = sim_utils.get_labels(nested_prim) assert "class" in nested_labels_dict assert nested_labels_dict["class"] == ["nested_label"] def test_add_labels_with_overwrite(): """Test add_labels() function with overwriting existing labels.""" # get stage handle stage = sim_utils.get_current_stage() # create a test prim prim = stage.DefinePrim("/test", "Xform") # Add labels sim_utils.add_labels(prim, ["label_a", "label_b"], instance_name="class") sim_utils.add_labels(prim, ["shape_a"], instance_name="shape") # Overwrite existing labels for a specific instance sim_utils.add_labels(prim, ["replaced_label"], instance_name="class", overwrite=True) labels_dict = sim_utils.get_labels(prim) assert labels_dict["class"] == ["replaced_label"] assert "shape" in labels_dict assert labels_dict["shape"] == ["shape_a"] def test_add_labels_without_overwrite(): """Test add_labels() function without overwriting existing labels.""" # get stage handle stage = sim_utils.get_current_stage() # create a test prim prim = stage.DefinePrim("/test", "Xform") # Add labels sim_utils.add_labels(prim, ["label_a", "label_b"], instance_name="class") sim_utils.add_labels(prim, ["shape_a"], instance_name="shape") # Re-add labels with overwrite=False (should append) sim_utils.add_labels(prim, ["label_c"], instance_name="class", overwrite=False) labels_dict = sim_utils.get_labels(prim) assert sorted(labels_dict["class"]) == sorted(["label_a", "label_b", "label_c"]) def test_remove_all_labels(): """Test removing of all labels from a prim and its descendants.""" # get stage handle stage = sim_utils.get_current_stage() # create a test prim prim = stage.DefinePrim("/test", "Xform") nested_prim = stage.DefinePrim("/test/nested", "Xform") # Add labels sim_utils.add_labels(prim, ["label_a", "label_b"], instance_name="class") sim_utils.add_labels(prim, ["shape_a"], instance_name="shape") sim_utils.add_labels(nested_prim, ["nested_label"], instance_name="class") # Remove all labels sim_utils.remove_labels(prim) # Check labels are removed correctly labels_dict = sim_utils.get_labels(prim) assert len(labels_dict) == 0 # Check nested prim labels are not removed nested_labels_dict = sim_utils.get_labels(nested_prim) assert "class" in nested_labels_dict assert nested_labels_dict["class"] == ["nested_label"] # Re-add labels sim_utils.add_labels(prim, ["label_a", "label_b"], instance_name="class") sim_utils.add_labels(prim, ["shape_a"], instance_name="shape") sim_utils.add_labels(nested_prim, ["nested_label"], instance_name="class") # Remove all labels sim_utils.remove_labels(prim, include_descendants=True) # Check labels are removed correctly labels_dict = sim_utils.get_labels(prim) assert len(labels_dict) == 0 # Check nested prim labels are removed nested_labels_dict = sim_utils.get_labels(nested_prim) assert len(nested_labels_dict) == 0 def test_remove_specific_labels(): """Test removing of specific labels from a prim and its descendants.""" # get stage handle stage = sim_utils.get_current_stage() # create a test prim prim = stage.DefinePrim("/test", "Xform") nested_prim = stage.DefinePrim("/test/nested", "Xform") # Add labels sim_utils.add_labels(prim, ["label_a", "label_b"], instance_name="class") sim_utils.add_labels(prim, ["shape_a"], instance_name="shape") sim_utils.add_labels(nested_prim, ["nested_label"], instance_name="class") sim_utils.add_labels(nested_prim, ["nested_shape"], instance_name="shape") # Remove specific labels sim_utils.remove_labels(prim, instance_name="shape") # Check labels are removed correctly labels_dict = sim_utils.get_labels(prim) assert "shape" not in labels_dict assert "class" in labels_dict assert sorted(labels_dict["class"]) == sorted(["label_a", "label_b"]) # Check nested prim labels are not removed nested_labels_dict = sim_utils.get_labels(nested_prim) assert "class" in nested_labels_dict assert nested_labels_dict["class"] == ["nested_label"] # Remove specific labels sim_utils.remove_labels(prim, instance_name="class", include_descendants=True) # Check labels are removed correctly labels_dict = sim_utils.get_labels(prim) assert len(labels_dict) == 0 # Check nested prim labels are removed nested_labels_dict = sim_utils.get_labels(nested_prim) assert "shape" in nested_labels_dict assert nested_labels_dict["shape"] == ["nested_shape"] def test_check_missing_labels(): """Test the check_missing_labels() function.""" # create a test environment with labels object_paths = create_test_environment_with_labels() # Check from root missing_paths = sim_utils.check_missing_labels() # Only the sphere should be missing assert len(missing_paths) == 1 assert object_paths[3] in missing_paths # Object3 should be missing # Check from specific subtree missing_paths_subtree = sim_utils.check_missing_labels(prim_path="/World/Test/Object0") # Object0 and Nested both have labels assert len(missing_paths_subtree) == 0 # Check from invalid path missing_paths_invalid = sim_utils.check_missing_labels(prim_path="/World/Test/Invalid") assert len(missing_paths_invalid) == 0 def test_count_labels_in_scene(): """Test the count_labels_in_scene() function.""" # create a test environment with labels create_test_environment_with_labels() # Count from root labels_dict = sim_utils.count_total_labels() # Object0 and Nested both have labels assert labels_dict.get("cube", 0) == 3 assert labels_dict.get("nested", 0) == 1 assert labels_dict.get("missing_labels", 0) == 1 # Count from specific subtree labels_dict_subtree = sim_utils.count_total_labels(prim_path="/World/Test/Object0") assert labels_dict_subtree.get("cube", 0) == 1 assert labels_dict_subtree.get("nested", 0) == 1 assert labels_dict_subtree.get("missing_labels", 0) == 0 # Count from invalid path labels_dict_invalid = sim_utils.count_total_labels(prim_path="/World/Test/Invalid") assert labels_dict_invalid.get("missing_labels", 0) == 0