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ConstructTraining / source /isaaclab /test /markers /test_visualization_markers.py

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# 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

	# 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