Добавлены 3д объекты в виртуальный мир (молотки 5шт)

tests/test_genesis_smoke.py

@@ -17,6 +17,7 @@ from iiwa_genesis.config import ROOT
 def test_cpu_rgbd_scene(tmp_path, mode, names):
     cfg = yaml.safe_load((ROOT / "configs/scene.yaml").read_text())
     cfg["scene"]["mode"] = mode
+    cfg["tools"] = {"allowed": ["hammer1"], "seed": 17}
     cfg["output"]["directory"] = str(tmp_path / "frames")
     path = tmp_path / "scene.yaml"
     path.write_text(yaml.safe_dump(cfg))
@@ -26,6 +27,7 @@ def test_cpu_rgbd_scene(tmp_path, mode, names):
                              "--headless", "--backend", "cpu", "--steps", "4", "--save-frames"],
                             env=env, capture_output=True, text=True, timeout=600)
     assert result.returncode == 0, result.stdout + result.stderr
+    assert result.stdout.count("Table tool: hammer1;") == 1
     captures = list((tmp_path / "frames").glob("*/*.npz"))
     assert len(captures) == len(names)
     for name in names:

tests/test_tool_physics.py

@@ -0,0 +1,66 @@
+"""Opt-in contact regression using real exported meshes and the real table."""
+import os
+import subprocess
+import sys
+
+import pytest
+
+from iiwa_genesis.config import ROOT
+
+
+@pytest.mark.skipif(os.environ.get("IIWA_GENESIS_SMOKE") != "1",
+                    reason="set IIWA_GENESIS_SMOKE=1 for real tool/table contact tests")
+def test_all_hammers_fall_rest_and_move_on_table():
+    script = r'''
+import sys
+import numpy as np
+sys.path.insert(0, "src")
+from iiwa_genesis.config import load_config
+from iiwa_genesis.runtime import import_genesis
+from iiwa_genesis.tools import add_table_tool
+
+gs = import_genesis()
+gs.init(backend=gs.cpu, seed=42, logging_level="warning")
+try:
+    for number in range(1, 6):
+        cfg = load_config("configs/scene.yaml")
+        cfg["tools"] = {"allowed": [f"hammer{number}"], "seed": 10}
+        scene = gs.Scene(show_viewer=False, show_FPS=False,
+                         sim_options=gs.options.SimOptions(dt=1/120, gravity=(0, 0, -9.81)))
+        scene.add_entity(gs.morphs.URDF(file=str(cfg["table"]["urdf"]), fixed=True,
+                                       merge_fixed_links=False, decimate=False))
+        tool = add_table_tool(gs, scene, cfg)
+        scene.build()
+        assert len(scene.entities) == 2  # one table and exactly one tool
+        assert tool.n_dofs == 6 and tool.n_links == 1 and tool.n_geoms > 1
+        assert float(tool.get_mass()) > 0
+        initial = tool.get_AABB().cpu().numpy()
+        np.testing.assert_allclose(initial[0, 2], .805, atol=.002)
+        assert initial[1, 2] < .87
+        for _ in range(120):
+            scene.step()
+        rest = tool.get_AABB().cpu().numpy()
+        assert np.isfinite(rest).all()
+        assert .797 < rest[0, 2] < .803, (number, initial, rest)
+        assert rest[0, 2] < initial[0, 2] - .001
+        assert np.linalg.norm(tool.get_vel().cpu().numpy()) < .03
+        # An imparted horizontal velocity moves the free rigid assembly; it
+        # stays supported by the tabletop and friction slows it down.
+        before = tool.get_pos().cpu().numpy().copy()
+        tool.set_dofs_velocity([.3, 0, 0, 0, 0, 0])
+        for _ in range(60):
+            scene.step()
+        after = tool.get_pos().cpu().numpy()
+        assert np.linalg.norm(after[:2] - before[:2]) > .001, (number, before, after)
+        assert .797 < float(tool.get_AABB()[0, 2]) < .803
+        print(f"hammer{number}: contact, rest and dynamic movement OK", flush=True)
+        scene.destroy()
+finally:
+    gs.destroy()
+'''
+    env = os.environ.copy()
+    env.pop("PYTHONPATH", None)
+    env.setdefault("PYOPENGL_PLATFORM", "egl")
+    result = subprocess.run([sys.executable, "-c", script], cwd=ROOT,
+                            env=env, capture_output=True, text=True, timeout=900)
+    assert result.returncode == 0, result.stdout + result.stderr

tests/test_tools.py

@@ -0,0 +1,107 @@
+import numpy as np
+import pytest
+from scipy.spatial.transform import Rotation
+import yaml
+
+from iiwa_genesis.config import ROOT, load_config
+
+
+def tool_config(tmp_path, tools):
+    data = yaml.safe_load((ROOT / "configs/scene.yaml").read_text())
+    data["tools"] = tools
+    path = tmp_path / "scene.yaml"
+    path.write_text(yaml.safe_dump(data))
+    return load_config(path)
+
+
+@pytest.mark.parametrize("allowed", [[], "hammer1", [1], ["hammer1", "hammer1"],
+                                     ["missing"], ["../hammer1"], ["hammer1.obj"]])
+def test_invalid_tool_allowlist_is_rejected(tmp_path, allowed):
+    with pytest.raises(ValueError, match="tools.allowed"):
+        tool_config(tmp_path, {"allowed": allowed})
+
+
+@pytest.mark.parametrize("seed", [True, 1.5, "42", -1])
+def test_invalid_tool_seed_is_rejected(tmp_path, seed):
+    with pytest.raises(ValueError, match="tools.seed"):
+        tool_config(tmp_path, {"allowed": ["hammer1"], "seed": seed})
+
+
+@pytest.mark.parametrize("tools", [None, ["hammer1"]])
+def test_invalid_tools_section_is_rejected(tmp_path, tools):
+    with pytest.raises(ValueError, match="tools"):
+        tool_config(tmp_path, tools)
+
+
+def test_empty_config_reports_validation_error(tmp_path):
+    path = tmp_path / "empty.yaml"
+    path.write_text("")
+    with pytest.raises(ValueError, match="configuration"):
+        load_config(path)
+
+
+def test_tool_defaults_and_singleton_selection(tmp_path):
+    from iiwa_genesis.tools import choose_tool_spawn
+
+    cfg = tool_config(tmp_path, {"allowed": ["hammer3"]})
+    assert cfg["tools"]["seed"] is None
+    assert choose_tool_spawn(cfg).name == "hammer3"
+
+
+def test_seed_repeats_spawn_and_only_allowed_tools_can_be_selected(tmp_path):
+    from iiwa_genesis.tools import choose_tool_spawn
+
+    cfg = tool_config(tmp_path, {"allowed": ["hammer2", "hammer5"], "seed": 123})
+    first = choose_tool_spawn(cfg)
+    assert choose_tool_spawn(cfg) == first
+    cfg["scene"]["seed"] = 999
+    assert choose_tool_spawn(cfg) == first
+    choices = set()
+    positions = set()
+    for seed in range(12):
+        cfg["tools"]["seed"] = seed
+        spawn = choose_tool_spawn(cfg)
+        choices.add(spawn.name)
+        positions.add(spawn.position)
+    assert choices == {"hammer2", "hammer5"}
+    assert len(positions) > 1
+
+
+@pytest.mark.parametrize("name", [f"hammer{i}" for i in range(1, 6)])
+@pytest.mark.parametrize("table_pose", [((0, 0, 0), (0, 0, 0)),
+                                        ((1.2, -.7, .2), (5, -3, 60))])
+def test_exported_tool_fits_table_without_blender_offset(tmp_path, name, table_pose):
+    from iiwa_genesis.tools import choose_tool_spawn
+
+    cfg = tool_config(tmp_path, {"allowed": [name], "seed": 9})
+    cfg["table"]["position"], cfg["table"]["euler"] = table_pose
+    # Read the authored Y-up vertices independently of placement code.
+    raw = np.array([[float(x) for x in line.split()[1:4]]
+                    for line in (ROOT / f"iiwa_genesis_description/tools/hammer/{name}.obj").read_text().splitlines()
+                    if line.startswith("v ")])
+    zup = raw[:, [0, 2, 1]] * [1, -1, 1]
+    table_rotation = Rotation.from_euler("xyz", table_pose[1], degrees=True)
+    for seed in (0, 1, 9, 37):
+        cfg["tools"]["seed"] = seed
+        spawn = choose_tool_spawn(cfg)
+        world = Rotation.from_quat(spawn.quaternion, scalar_first=True).apply(zup) + spawn.position
+        local = table_rotation.inv().apply(world - table_pose[0])
+        assert local[:, 0].min() >= .06 - 1e-9
+        assert local[:, 0].max() <= .58 + 1e-9
+        assert local[:, 1].min() >= -.48 - 1e-9
+        assert local[:, 1].max() <= .48 + 1e-9
+        assert local[:, 2].min() == pytest.approx(.805)
+        assert local[:, 2].max() < .87  # lying flat, not standing on the handle
+
+
+def test_missing_material_is_rejected(tmp_path, monkeypatch):
+    from iiwa_genesis import config
+
+    description = tmp_path / "description"
+    asset = description / "tools/hammer/hammer1.obj"
+    asset.parent.mkdir(parents=True)
+    asset.write_text("mtllib hammer1.mtl\nv 0 0 0\n")
+    (description / "urdf").symlink_to(config.DESCRIPTION / "urdf", target_is_directory=True)
+    monkeypatch.setattr(config, "DESCRIPTION", description)
+    with pytest.raises(ValueError, match="hammer1.mtl"):
+        tool_config(tmp_path, {"allowed": ["hammer1"]})