File size: 3,763 Bytes
a0ea4e3 | 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 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 | # 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."""
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/Legacy/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_find_asset_dependencies_collects_mdl_texture_resources(tmp_path):
"""Test collecting texture resources from quoted MDL strings."""
mdl_path = tmp_path / "material.mdl"
mdl_path.write_text(
"""
export material Example(*) = OmniPBR(
diffuse_texture: texture_2d("./textures/Albedo.png", ::tex::gamma_srgb),
normalmap_texture: texture_2d("../shared/Normal.EXR", ::tex::gamma_linear),
ORM_texture: texture_2d("https://example.com/materials/orm.<UDIM>.png", ::tex::gamma_linear),
roughness_texture: texture_2d("omniverse://server/Library/roughness.tx", ::tex::gamma_linear),
ignored_label: "not_a_texture",
empty_texture: texture_2d()
);
// texture_2d("./textures/commented_line.png")
/* texture_2d("./textures/commented_block.png") */
""",
encoding="utf-8",
)
assert assets_utils._find_asset_dependencies(str(mdl_path)) == {
"./textures/Albedo.png",
"../shared/Normal.EXR",
"https://example.com/materials/orm.<UDIM>.png",
"omniverse://server/Library/roughness.tx",
}
def test_find_asset_dependencies_collects_mdl_relative_import_modules(tmp_path):
"""Test collecting sibling MDL modules imported by material files."""
mdl_path = tmp_path / "material.mdl"
mdl_path.write_text(
"""
import .::OmniUe4Function;
import .::OmniUe4Translucent::*;
import .::Shared::OmniUe4Base::*;
import .::Helpers::make_color;
import ..::Common::Surface::*;
export using .::Local::Palette import *;
using ..::Shared::Functions import make_color, make_normal;
import ::nvidia::core_definitions::*;
export material Example(*) = OmniPBR();
// import .::CommentedLine;
/* import .::CommentedBlock; */
string ignored = "import .::QuotedString;";
""",
encoding="utf-8",
)
assert assets_utils._find_asset_dependencies(str(mdl_path)) == {
"OmniUe4Function.mdl",
"OmniUe4Translucent.mdl",
"Shared/OmniUe4Base.mdl",
"Helpers.mdl",
"Helpers/make_color.mdl",
"../Common/Surface.mdl",
"Local.mdl",
"Local/Palette.mdl",
"../Shared.mdl",
"../Shared/Functions.mdl",
}
def test_find_asset_dependencies_missing_mdl_does_not_log_traceback(tmp_path, caplog):
"""Test unavailable MDL dependencies do not emit tracebacks in training logs."""
missing_mdl = tmp_path / "missing.mdl"
assert assets_utils._find_asset_dependencies(str(missing_mdl)) == set()
assert "Traceback (most recent call last):" not in caplog.text
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