@holoscript/robotics-plugin 2.0.1 → 2.0.3

package/src/__tests__/isaac-lab-interop.test.ts

@@ -1,207 +0,0 @@
-/**
- * Isaac Lab Sim-to-Real Interop Tests (Path A)
- *
- * Covers the smallest HoloScript -> Isaac Lab asset/export path:
- * - PhysX/OpenUSD schema wiring for drives and per-axis friction
- * - HoloScript radians -> USD degrees conversion for angular joints
- * - Domain randomization and delayed actuator metadata
- * - Fixture parse/generate validation
- */
-
-import { readFileSync } from 'node:fs';
-import { join } from 'node:path';
-import { describe, expect, it } from 'vitest';
-import { Lexer } from '../lexer';
-import { Parser } from '../parser';
-import { USDCodeGen } from '../usd-codegen';
-import type { CompositionNode } from '../ast';
-
-const testHoloScript = `
-composition "TestArm" {
-  domain_randomization: {
-    physics: {
-      massScale: [0.8, 1.2]
-      frictionRange: [0.3, 0.7]
-    }
-    actuator: {
-      kpNoise: 0.1
-      kdNoise: 0.05
-    }
-    initialState: {
-      jointPosRange: {
-        joint1: [-0.1, 0.1]
-      }
-      rootPoseRange: [-0.5, 0.5, -0.5, 0.5, 0.0, 1.0]
-    }
-  }
-
-  object "base" @static {
-    geometry: "box"
-    dimensions: [0.1, 0.1, 0.05]
-    mass: 1.0
-  }
-
-  object "joint1" {
-    @joint_revolute
-    joint_parent: "base"
-    joint_axis: [0, 0, 1]
-    joint_limits: [-3.141592653589793, 3.141592653589793]
-    joint_effort: 50
-    max_velocity: 3.141592653589793
-    kp: 100.0
-    kd: 10.0
-    joint_friction: 0.05
-    joint_viscous_friction: 0.01
-    armature: 0.001
-    actuator_latency: 0.005
-    actuator_group: {
-      name: "arm_group"
-      type: "DelayedPDActuator"
-      joints: ["joint1", "joint2", "joint3"]
-      stiffness: 100
-      damping: 10
-      friction: 0.05
-      latency: 0.005
-    }
-  }
-
-  object "link1" {
-    geometry: "cylinder"
-    radius: 0.05
-    length: 0.3
-    mass: 1.0
-  }
-}
-`;
-
-function parseHoloScript(source = testHoloScript): CompositionNode {
-  const lexer = new Lexer(source);
-  const tokens = lexer.tokenize();
-  const parser = new Parser(tokens);
-  return parser.parse();
-}
-
-describe('Isaac Lab Interop (Path A)', () => {
-  describe('Parser', () => {
-    it('parses composition-level domain_randomization blocks', () => {
-      const ast = parseHoloScript();
-
-      expect(ast.domainRandomization?.physics?.massScale).toEqual([0.8, 1.2]);
-      expect(ast.domainRandomization?.physics?.frictionRange).toEqual([0.3, 0.7]);
-      expect(ast.domainRandomization?.actuator?.kpNoise).toBe(0.1);
-      expect(ast.domainRandomization?.actuator?.kdNoise).toBe(0.05);
-      expect(ast.domainRandomization?.initialState?.jointPosRange?.joint1).toEqual([-0.1, 0.1]);
-      expect(ast.domainRandomization?.initialState?.rootPoseRange).toEqual([
-        -0.5,
-        0.5,
-        -0.5,
-        0.5,
-        0,
-        1,
-      ]);
-    });
-
-    it('accepts traits before and inside object bodies', () => {
-      const ast = parseHoloScript();
-      const base = ast.objects.find((object) => object.name === 'base');
-      const joint1 = ast.objects.find((object) => object.name === 'joint1');
-
-      expect(base?.traits).toContain('static');
-      expect(joint1?.traits).toContain('joint_revolute');
-    });
-
-    it('parses drive, friction, latency, and actuator group properties', () => {
-      const ast = parseHoloScript();
-      const joint1 = ast.objects.find((object) => object.name === 'joint1');
-      const group = joint1?.actuatorGroups?.[0];
-
-      expect(joint1?.properties.kp).toBe(100);
-      expect(joint1?.properties.kd).toBe(10);
-      expect(joint1?.properties.joint_friction).toBe(0.05);
-      expect(joint1?.properties.actuator_latency).toBe(0.005);
-      expect(group?.name).toBe('arm_group');
-      expect(group?.type).toBe('DelayedPDActuator');
-      expect(group?.jointNames).toEqual(['joint1', 'joint2', 'joint3']);
-      expect(group?.latency).toBe(0.005);
-    });
-  });
-
-  describe('USD Codegen', () => {
-    it('emits stage units and PhysX root schema assumptions', () => {
-      const usd = new USDCodeGen({ isaacLabVersion: '2.3' }).generate(parseHoloScript());
-
-      expect(usd).toContain('# Generated for Isaac Lab 2.3');
-      expect(usd).toContain('metersPerUnit = 1.0');
-      expect(usd).toContain('kilogramsPerMass = 1.0');
-      expect(usd).toContain('# Units: meters, kilograms, seconds; HoloScript angular inputs are radians.');
-      expect(usd).toContain('prepend apiSchemas = ["PhysicsArticulationRootAPI", "PhysxArticulationAPI"]');
-      expect(usd).toContain('bool physxArticulation:articulationEnabled = true');
-      expect(usd).not.toContain('physxArticulation:jointFriction');
-    });
-
-    it('emits applied DriveAPI and PhysxJointAxisAPI schemas on actuated joints', () => {
-      const usd = new USDCodeGen().generate(parseHoloScript());
-
-      expect(usd).toContain('prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysxJointAxisAPI:angular"]');
-      expect(usd).toContain('float drive:angular:physics:stiffness = 100');
-      expect(usd).toContain('float drive:angular:physics:damping = 10');
-      expect(usd).toContain('float drive:angular:physics:maxForce = 50');
-      expect(usd).toContain('uniform token drive:angular:physics:type = "force"');
-      expect(usd).toContain('float physxJointAxis:angular:staticFrictionEffort = 0.05');
-      expect(usd).toContain('float physxJointAxis:angular:dynamicFrictionEffort = 0.05');
-      expect(usd).toContain('float physxJointAxis:angular:viscousFrictionCoefficient = 0.01');
-      expect(usd).toContain('float physxJointAxis:angular:armature = 0.001');
-      expect(usd).not.toContain('drive:angular:physics:friction');
-      expect(usd).not.toContain('drive:angular:physics:latency');
-    });
-
-    it('exports angular limits and velocity in USD degrees', () => {
-      const usd = new USDCodeGen().generate(parseHoloScript());
-
-      expect(usd).toContain('float physics:lowerLimit = -180');
-      expect(usd).toContain('float physics:upperLimit = 180');
-      expect(usd).toContain('float physics:maxVelocity = 180');
-      expect(usd).toContain('float physxJointAxis:angular:maxJointVelocity = 180');
-    });
-
-    it('emits domain randomization and delayed actuator metadata without pretending they are USD schemas', () => {
-      const usd = new USDCodeGen().generate(parseHoloScript());
-
-      expect(usd).toContain('# Domain Randomization Configuration');
-      expect(usd).toContain('#   massScale: [0.8, 1.2]');
-      expect(usd).toContain('#   frictionRange: [0.3, 0.7]');
-      expect(usd).toContain('#   kpNoise: 0.1');
-      expect(usd).toContain('#   kdNoise: 0.05');
-      expect(usd).toContain('custom float holoscript:isaacLab:actuatorLatencySeconds = 0.005');
-      expect(usd).toContain('#   arm_group: type=DelayedPDActuator joints=[joint1, joint2, joint3]');
-    });
-
-    it('disables DriveAPI and PhysX joint-axis output when configured off', () => {
-      const usd = new USDCodeGen({
-        enableDriveAttributes: false,
-        enableJointFriction: false,
-      }).generate(parseHoloScript());
-
-      expect(usd).toContain('prepend apiSchemas = ["PhysicsArticulationRootAPI"]');
-      expect(usd).not.toContain('PhysxArticulationAPI');
-      expect(usd).not.toContain('PhysicsDriveAPI:angular');
-      expect(usd).not.toContain('PhysxJointAxisAPI:angular');
-      expect(usd).not.toContain('drive:angular:physics:');
-      expect(usd).not.toContain('physxJointAxis:angular:');
-    });
-
-    it('parses and generates the checked-in Isaac Lab fixture', () => {
-      const fixturePath = join(__dirname, '../../examples/isaac-lab-sim-to-real.holo');
-      const fixtureSource = readFileSync(fixturePath, 'utf8');
-      const usd = new USDCodeGen().generate(parseHoloScript(fixtureSource));
-
-      expect(usd).toContain('def Xform "TwoLinkArm_IsaacLab"');
-      expect(usd).toContain('metersPerUnit = 1.0');
-      expect(usd).toContain('kilogramsPerMass = 1.0');
-      expect(usd).toContain('PhysicsDriveAPI:angular');
-      expect(usd).toContain('PhysxJointAxisAPI:angular');
-      expect(usd).toContain('custom float holoscript:isaacLab:actuatorLatencySeconds = 0.005');
-      expect(usd).toContain('# Domain Randomization Configuration');
-    });
-  });
-});

package/src/ast.ts

@@ -1,75 +0,0 @@
-/**
- * Abstract Syntax Tree (AST) node types for HoloScript robotics
- *
- * Extended for Isaac Lab sim-to-real interop (Path A):
- * - Domain randomization blocks
- * - Actuator group configurations
- * - Delayed actuator export hints
- */
-
-export type PropertyValue = string | number | boolean | number[] | PropertyValue[];
-
-export interface DomainRandomizationConfig {
-  /** Physics randomization: mass, friction, damping */
-  physics?: {
-    massScale?: [number, number]; // [min, max]
-    frictionRange?: [number, number];
-    dampingRange?: [number, number];
-    armatureRange?: [number, number];
-  };
-  /** Actuator randomization */
-  actuator?: {
-    kpNoise?: number;
-    kdNoise?: number;
-    latencyNoise?: number;
-  };
-  /** Observation noise */
-  observation?: {
-    jointPosNoise?: number;
-    jointVelNoise?: number;
-    imuNoise?: number;
-  };
-  /** Initial state randomization */
-  initialState?: {
-    jointPosRange?: Record<string, [number, number]>;
-    rootPoseRange?: [number, number, number, number, number, number]; // [x_min, x_max, y_min, ...]
-  };
-  /** Disturbance forces */
-  disturbance?: {
-    forceRange?: [number, number];
-    intervalRange?: [number, number];
-  };
-}
-
-export interface ActuatorGroupConfig {
-  name: string;
-  type: 'IdealPDActuator' | 'DCMotorActuator' | 'DelayedPDActuator' | 'RemotizedPDActuator' | 'ImplicitActuator';
-  jointNames: string[];
-  stiffness?: number;
-  damping?: number;
-  friction?: number;
-  latency?: number; // seconds, converted by Isaac Lab task config to delay steps.
-}
-
-export interface ObjectNode {
-  type: 'object';
-  name: string;
-  traits: string[];
-  properties: Record<string, PropertyValue>;
-  domainRandomization?: DomainRandomizationConfig;
-  actuatorGroups?: ActuatorGroupConfig[];
-  template?: string;
-  line?: number;
-  column?: number;
-}
-
-export interface CompositionNode {
-  type: 'composition';
-  name: string;
-  objects: ObjectNode[];
-  domainRandomization?: DomainRandomizationConfig;
-  line?: number;
-  column?: number;
-}
-
-export type ASTNode = CompositionNode | ObjectNode;