Adds NavTerrainImporter Pytests

exts/nav_suite/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.2.5"
+version = "0.2.6"
 
 # Description
 title = "IsaacLab Navigation Suite"

exts/nav_suite/docs/CHANGELOG.rst

@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+0.2.6 (2025-08-20)
+~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^^^
+
+- Added pytest testing suite for :class:`nav_suite.terrains.nav_terrain_importer.NavTerrainImporter`
+- Added :attr:`nav_suite.terrains.nav_terrain_importer_cfg.NavTerrainImporterCfg.random_seed` parameter for deterministic random sampling behavior.
+- Added :attr:`nav_suite.terrains.nav_terrain_importer_cfg.NavTerrainImporterCfg.custom_origins` parameter
+
 
 0.2.5 (2025-08-13)
 ~~~~~~~~~~~~~~~~~~

exts/nav_suite/nav_suite/__init__.py

@@ -15,6 +15,9 @@
 NAVSUITE_DATA_DIR = os.path.join(NAVSUITE_EXT_DIR, "data")
 """Path to the extension data directory."""
 
+NAVSUITE_TEST_ASSETS_DIR = os.path.join(NAVSUITE_EXT_DIR, "tests", "assets")
+"""Path to the extension test assets directory."""
+
 NAVSUITE_METADATA = toml.load(os.path.join(NAVSUITE_EXT_DIR, "config", "extension.toml"))
 """Extension metadata dictionary parsed from the extension.toml file."""
 

exts/nav_suite/nav_suite/terrains/nav_terrain_importer.py

@@ -78,12 +78,14 @@ def configure_env_origins(self, origins: np.ndarray | torch.Tensor | None = None
             This method adds the options to add grid-like origins to a USD terrain.
         """
         # decide whether to compute origins in a grid or based on curriculum
-        if origins is not None:
-            # convert to numpy
-            if isinstance(origins, np.ndarray):
-                origins = torch.from_numpy(origins)
+        terrain_origins_source = self.cfg.custom_origins if self.cfg.custom_origins is not None else origins
+
+        if terrain_origins_source is not None:
+            # convert to torch tensor if needed
+            if isinstance(terrain_origins_source, np.ndarray):
+                terrain_origins_source = torch.from_numpy(terrain_origins_source)
             # store the origins
-            self.terrain_origins = origins.to(self.device, dtype=torch.float)
+            self.terrain_origins = terrain_origins_source.to(self.device, dtype=torch.float)
             # compute environment origins
             self.env_origins = self._compute_env_origins_curriculum(self.cfg.num_envs, self.terrain_origins)
         # uniform env_spacing for usd_size
@@ -459,6 +461,8 @@ def _convert_obj_to_usd(self, file_path: str) -> str:
             # Convert the asset
             converter_instance._convert_asset(self.cfg.asset_converter)
 
+            self.cfg.usd_path = base_path + ".usd"
+
             # update the usd_path
             return base_path + ".usd"
 

exts/nav_suite/nav_suite/terrains/nav_terrain_importer_cfg.py

@@ -3,6 +3,8 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
+import torch
+
 from isaaclab.terrains import TerrainImporterCfg
 from isaaclab.utils import configclass
 
@@ -61,3 +63,9 @@ class NavTerrainImporterCfg(TerrainImporterCfg):
 
     add_colliders: bool = False
     """Add colliders to meshes"""
+
+    custom_origins: torch.Tensor | None = None
+    """Custom origins for environment placement. If provided, these origins will be used to place environments instead of computing them via grid or curriculum logic. Shape should be (num_rows, num_cols, 3) or compatible. Default is None."""
+
+    random_seed: int | None = None
+    """Random seed for deterministic terrain generation. If None, random behavior is non-deterministic. Default is None."""

exts/nav_suite/tests/assets/terrains/ground_plane_obj.obj

@@ -0,0 +1,17 @@
+mtllib ground_plane.mtl
+o mesh_0
+usemtl material7
+v -24.999999441206455 -24.999999441206455 0
+v 24.999999441206455 -24.999999441206455 0
+v 24.999999441206455 24.999999441206455 0
+v -24.999999441206455 -24.999999441206455 0
+v 24.999999441206455 24.999999441206455 0
+v -24.999999441206455 24.999999441206455 0
+vn 0 0 1
+vn 0 0 1
+vn 0 0 1
+vn 0 0 1
+vn 0 0 1
+vn 0 0 1
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6