adds test

source/extensions/omni.isaac.lab/test/sim/test_spawn_wrappers.py

@@ -0,0 +1,149 @@
+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Launch Isaac Sim Simulator first."""
+
+from omni.isaac.lab.app import AppLauncher, run_tests
+
+# launch omniverse app
+simulation_app = AppLauncher(headless=True).app
+
+"""Rest everything follows."""
+
+import unittest
+
+import omni.isaac.core.utils.prims as prim_utils
+import omni.isaac.core.utils.stage as stage_utils
+from omni.isaac.core.simulation_context import SimulationContext
+
+import omni.isaac.lab.sim as sim_utils
+
+
+class TestSpawningWrappers(unittest.TestCase):
+    """Test fixture for checking spawning of multiple assets wrappers."""
+
+    def setUp(self) -> None:
+        """Create a blank new stage for each test."""
+        # Create a new stage
+        stage_utils.create_new_stage()
+        # Simulation time-step
+        self.dt = 0.1
+        # Load kit helper
+        self.sim = SimulationContext(physics_dt=self.dt, rendering_dt=self.dt, backend="numpy")
+        # Wait for spawning
+        stage_utils.update_stage()
+
+    def tearDown(self) -> None:
+        """Stops simulator after each test."""
+        # stop simulation
+        self.sim.stop()
+        self.sim.clear()
+        self.sim.clear_all_callbacks()
+        self.sim.clear_instance()
+
+    """
+    Tests.
+    """
+
+    def test_spawn_multiple_shapes_with_global_settings(self):
+        """Test spawning of shapes randomly with global rigid body settings."""
+        # Define prim parents
+        num_clones = 10
+        for i in range(num_clones):
+            prim_utils.create_prim(f"/World/env_{i}", "Xform", translation=(i, i, 0))
+
+        # Spawn shapes
+        cfg = sim_utils.MultiAssetSpawnerCfg(
+            assets_cfg=[
+                sim_utils.ConeCfg(
+                    radius=0.3,
+                    height=0.6,
+                    visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0), metallic=0.2),
+                    mass_props=sim_utils.MassPropertiesCfg(mass=100.0),  # this one should get overridden
+                ),
+                sim_utils.CuboidCfg(
+                    size=(0.3, 0.3, 0.3),
+                    visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0), metallic=0.2),
+                ),
+                sim_utils.SphereCfg(
+                    radius=0.3,
+                    visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0), metallic=0.2),
+                ),
+            ],
+            random_choice=True,
+            rigid_props=sim_utils.RigidBodyPropertiesCfg(
+                solver_position_iteration_count=4, solver_velocity_iteration_count=0
+            ),
+            mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
+            collision_props=sim_utils.CollisionPropertiesCfg(),
+        )
+        prim = cfg.func("/World/env_.*/Cone", cfg)
+
+        # Check validity
+        self.assertTrue(prim.IsValid())
+        self.assertEqual(prim_utils.get_prim_path(prim), "/World/env_0/Cone")
+        # Find matching prims
+        prim_paths = prim_utils.find_matching_prim_paths("/World/env_*/Cone")
+        self.assertEqual(len(prim_paths), num_clones)
+
+        # Check all prims have correct settings
+        for prim_path in prim_paths:
+            prim = prim_utils.get_prim_at_path(prim_path)
+            self.assertEqual(prim.GetAttribute("physics:mass").Get(), cfg.mass_props.mass)
+
+    def test_spawn_multiple_shapes_with_individual_settings(self):
+        """Test spawning of shapes randomly with individual rigid object settings"""
+        # Define prim parents
+        num_clones = 10
+        for i in range(num_clones):
+            prim_utils.create_prim(f"/World/env_{i}", "Xform", translation=(i, i, 0))
+
+        # Make a list of masses
+        mass_variations = [2.0, 3.0, 4.0]
+        # Spawn shapes
+        cfg = sim_utils.MultiAssetSpawnerCfg(
+            assets_cfg=[
+                sim_utils.ConeCfg(
+                    radius=0.3,
+                    height=0.6,
+                    visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0), metallic=0.2),
+                    rigid_props=sim_utils.RigidBodyPropertiesCfg(),
+                    mass_props=sim_utils.MassPropertiesCfg(mass=mass_variations[0]),
+                    collision_props=sim_utils.CollisionPropertiesCfg(),
+                ),
+                sim_utils.CuboidCfg(
+                    size=(0.3, 0.3, 0.3),
+                    visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0), metallic=0.2),
+                    rigid_props=sim_utils.RigidBodyPropertiesCfg(),
+                    mass_props=sim_utils.MassPropertiesCfg(mass=mass_variations[1]),
+                    collision_props=sim_utils.CollisionPropertiesCfg(),
+                ),
+                sim_utils.SphereCfg(
+                    radius=0.3,
+                    visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0), metallic=0.2),
+                    rigid_props=sim_utils.RigidBodyPropertiesCfg(),
+                    mass_props=sim_utils.MassPropertiesCfg(mass=mass_variations[2]),
+                    collision_props=sim_utils.CollisionPropertiesCfg(),
+                ),
+            ],
+            random_choice=True,
+        )
+        prim = cfg.func("/World/env_.*/Cone", cfg)
+
+        # Check validity
+        self.assertTrue(prim.IsValid())
+        self.assertEqual(prim_utils.get_prim_path(prim), "/World/env_0/Cone")
+        # Find matching prims
+        prim_paths = prim_utils.find_matching_prim_paths("/World/env_*/Cone")
+        self.assertEqual(len(prim_paths), num_clones)
+
+        # Check all prims have correct settings
+        for prim_path in prim_paths:
+            prim = prim_utils.get_prim_at_path(prim_path)
+            self.assertTrue(prim.GetAttribute("physics:mass").Get() in mass_variations)
+
+
+if __name__ == "__main__":
+    run_tests()