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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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 | # 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
"""Unit tests for visualizer config factory and base visualizer behavior."""
from __future__ import annotations
import importlib.util
from types import SimpleNamespace
import pytest
import torch
from isaaclab.envs.utils.camera_view import apply_camera_view_from_origins, prim_world_positions
from isaaclab.visualizers.base_visualizer import BaseVisualizer
from isaaclab.visualizers.visualizer import Visualizer
from isaaclab.visualizers.visualizer_cfg import VisualizerCfg
#
# Config factory
#
def test_create_visualizer_raises_for_base_cfg():
cfg = VisualizerCfg()
with pytest.raises(ValueError, match="Cannot create visualizer from base VisualizerCfg class"):
cfg.create_visualizer()
def test_visualizer_cfg_tiled_camera_view_is_opt_in():
cfg = VisualizerCfg()
assert cfg.focal_length == 12.0
assert cfg.tiled_cam_view is False
assert cfg.tiled_cam_num == 16
def test_create_visualizer_raises_for_unknown_type():
cfg = VisualizerCfg(visualizer_type="unknown-backend")
with pytest.raises(ValueError, match="not registered"):
cfg.create_visualizer()
def test_create_visualizer_raises_import_error_when_backend_unavailable(monkeypatch):
monkeypatch.setattr(Visualizer, "_get_module_name", classmethod(lambda cls, backend: "does.not.exist"))
cfg = VisualizerCfg(visualizer_type="newton")
with pytest.raises(ImportError, match="isaaclab_visualizers"):
cfg.create_visualizer()
#
# Base visualizer (env filtering, camera pose)
#
class _DummyVisualizer(BaseVisualizer):
def initialize(self, scene_data_provider) -> None:
self._scene_data_provider = scene_data_provider
self._is_initialized = True
def step(self, dt: float) -> None:
return
def close(self) -> None:
self._is_closed = True
def is_running(self) -> bool:
return True
def _make_cfg(**kwargs):
cfg = {
"max_visible_envs": None,
"visible_env_indices": None,
# Default off in tests: contiguous cap-only path matches historical assertions.
"randomly_sample_visible_envs": False,
}
cfg.update(kwargs)
return SimpleNamespace(**cfg)
_HAS_ISAACLAB_VIZ = importlib.util.find_spec("isaaclab_visualizers") is not None
class _FakeProvider:
def __init__(self, num_envs: int = 0, transforms: dict | None = None):
self._num_envs = num_envs
self._transforms = transforms
@property
def num_envs(self) -> int:
return self._num_envs
def get_metadata(self) -> dict:
return {"num_envs": self._num_envs}
def get_camera_transforms(self):
return self._transforms
class _FakeCamera:
device = "cpu"
def __init__(self):
self.set_world_poses_from_view_calls = []
self.update_poses_calls = []
def set_world_poses_from_view(self, eyes, targets, env_ids=None):
self.set_world_poses_from_view_calls.append((eyes.clone(), targets.clone(), env_ids))
def _update_poses(self, dt):
self.update_poses_calls.append(dt)
def test_apply_camera_view_from_origins_forwards_env_ids():
camera = _FakeCamera()
origins = torch.tensor([[1.0, 2.0, 3.0]])
apply_camera_view_from_origins(camera, origins, eye=(0.5, 0.0, 1.0), lookat=(0.0, 0.0, 0.0), env_ids=[2])
eyes, targets, env_ids = camera.set_world_poses_from_view_calls[0]
assert eyes.tolist() == [[1.5, 2.0, 4.0]]
assert targets.tolist() == [[1.0, 2.0, 3.0]]
assert env_ids == [2]
assert camera.update_poses_calls == [None]
def test_prim_world_positions_prefers_scene_articulation_state():
body_pos_w = torch.tensor(
[
[[1.0, 2.0, 3.0], [10.0, 20.0, 30.0]],
[[4.0, 5.0, 6.0], [40.0, 50.0, 60.0]],
]
)
articulation = SimpleNamespace(
cfg=SimpleNamespace(prim_path="/World/envs/env_.*/Robot"),
body_names=["base", "foot"],
data=SimpleNamespace(
root_pos_w=SimpleNamespace(torch=torch.zeros((2, 3))),
body_pos_w=SimpleNamespace(torch=body_pos_w),
),
find_bodies=lambda name: ([0], [name]),
)
scene = SimpleNamespace(articulations={"robot": articulation})
positions = prim_world_positions(None, "/World/envs/*/Robot/base", [1, 0], scene=scene)
assert torch.equal(positions, torch.tensor([[4.0, 5.0, 6.0], [1.0, 2.0, 3.0]]))
def test_compute_visualized_env_ids_cap_only_returns_none():
"""Cap-only path: :meth:`_compute_visualized_env_ids` is ``None``.
The cap is applied later by ``resolve_visible_env_indices``.
"""
viz = _DummyVisualizer(_make_cfg(visible_env_indices=None))
viz._scene_data_provider = _FakeProvider(num_envs=8)
assert viz._compute_visualized_env_ids() is None
def test_compute_visualized_env_ids_from_visible_indices_filters_out_of_range():
viz = _DummyVisualizer(_make_cfg(visible_env_indices=[-1, 0, 3, 99]))
viz._scene_data_provider = _FakeProvider(num_envs=4)
assert viz._compute_visualized_env_ids() == [0, 3]
@pytest.mark.skipif(not _HAS_ISAACLAB_VIZ, reason="isaaclab_visualizers not installed")
def test_partial_visualization_cap_only_uses_resolver():
"""With ``visible_env_indices`` unset, :func:`resolve_visible_env_indices` applies ``max_visible_envs``."""
from isaaclab_visualizers.newton_adapter import resolve_visible_env_indices
cfg = _make_cfg(max_visible_envs=3, visible_env_indices=None)
viz = _DummyVisualizer(cfg)
viz._scene_data_provider = _FakeProvider(num_envs=10)
assert viz._compute_visualized_env_ids() is None
assert resolve_visible_env_indices(None, cfg.max_visible_envs, 10) == [0, 1, 2]
assert resolve_visible_env_indices(None, 3, 10) == [0, 1, 2]
@pytest.mark.skipif(not _HAS_ISAACLAB_VIZ, reason="isaaclab_visualizers not installed")
def test_compute_visualized_env_ids_random_cap_only_sorted_once():
"""Cap-only random mode returns a sorted sample; explicit indices ignore the flag."""
cfg = _make_cfg(max_visible_envs=3, visible_env_indices=None, randomly_sample_visible_envs=True)
viz = _DummyVisualizer(cfg)
viz._scene_data_provider = _FakeProvider(num_envs=10)
sampled = viz._compute_visualized_env_ids()
assert sampled is not None and len(sampled) == 3
assert sampled == sorted(sampled)
assert len(set(sampled)) == 3
assert all(0 <= i < 10 for i in sampled)
cfg_explicit = _make_cfg(
visible_env_indices=[1, 5],
max_visible_envs=1,
randomly_sample_visible_envs=True,
)
viz2 = _DummyVisualizer(cfg_explicit)
viz2._scene_data_provider = _FakeProvider(num_envs=10)
assert viz2._compute_visualized_env_ids() == [1, 5]
@pytest.mark.skipif(not _HAS_ISAACLAB_VIZ, reason="isaaclab_visualizers not installed")
def test_explicit_visible_env_indices_truncated_by_max_visible_envs():
"""Explicit indices from :meth:`_compute_visualized_env_ids`; ``max_visible_envs`` truncates from the end."""
from isaaclab_visualizers.newton_adapter import resolve_visible_env_indices
cfg = _make_cfg(visible_env_indices=[0, 2, 4], max_visible_envs=1)
viz = _DummyVisualizer(cfg)
viz._scene_data_provider = _FakeProvider(num_envs=10)
ids = viz._compute_visualized_env_ids()
assert ids == [0, 2, 4]
assert resolve_visible_env_indices(ids, cfg.max_visible_envs, 10) == [0]
def test_resolve_camera_pose_from_usd_path_uses_provider_transforms():
transforms = {
"order": ["/World/envs/env_%d/Camera"],
"positions": [[[1.0, 2.0, 3.0]]],
"orientations": [[[0.0, 0.0, 0.0, 1.0]]],
}
viz = _DummyVisualizer(_make_cfg())
viz._scene_data_provider = _FakeProvider(num_envs=1, transforms=transforms)
pos, target = viz._resolve_camera_pose_from_usd_path("/World/envs/env_0/Camera")
assert pos == (1.0, 2.0, 3.0)
assert target == pytest.approx((1.0, 2.0, 2.0))
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