Первоначальная настройка

tests/test_genesis_smoke.py

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+"""Explicit opt-in: compiles Genesis kernels and needs an EGL-capable OpenGL stack."""
+import json
+import os
+import subprocess
+import sys
+
+import numpy as np
+from PIL import Image
+import pytest
+import yaml
+
+from iiwa_genesis.config import ROOT
+
+
+@pytest.mark.skipif(os.environ.get("IIWA_GENESIS_SMOKE") != "1", reason="set IIWA_GENESIS_SMOKE=1 to run real CPU/EGL tests")
+@pytest.mark.parametrize("mode,names", [("without_gripper", ["overhead"]), ("with_gripper", ["overhead", "tool"])])
+def test_cpu_rgbd_scene(tmp_path, mode, names):
+    cfg = yaml.safe_load((ROOT / "configs/scene.yaml").read_text())
+    cfg["scene"]["mode"] = mode
+    cfg["output"]["directory"] = str(tmp_path / "frames")
+    path = tmp_path / "scene.yaml"
+    path.write_text(yaml.safe_dump(cfg))
+    env = os.environ.copy()
+    env.pop("PYTHONPATH", None)
+    result = subprocess.run([sys.executable, str(ROOT / "run_scene.py"), "--config", str(path),
+                             "--headless", "--backend", "cpu", "--steps", "4", "--save-frames"],
+                            env=env, capture_output=True, text=True, timeout=600)
+    assert result.returncode == 0, result.stdout + result.stderr
+    captures = list((tmp_path / "frames").glob("*/*.npz"))
+    assert len(captures) == len(names)
+    for name in names:
+        capture = next(p for p in captures if p.stem.startswith(name))
+        data = np.load(capture)
+        assert np.array(Image.open(capture.with_suffix(".png"))).shape == (480, 640, 3)
+        assert data["depth"].shape == (480, 640)
+        valid = data["valid"]
+        assert np.isfinite(data["depth"]).all()
+        assert (data["depth"][~valid] == 0).all()
+        assert (data["depth"][valid] >= .01).all() and (data["depth"][valid] <= 6).all()
+        meta = json.loads(capture.with_suffix(".json").read_text())
+        np.testing.assert_allclose(np.array(meta["optical_from_world"]) @ meta["world_from_optical"], np.eye(4), atol=1e-6)
+        if name == "overhead":
+            assert valid.any()