init commit

tests/integration/simbox/test_simbox.py

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+"""
+simbox tests that run in Isaac Sim environment using subprocess wrappers.
+Migrated from original test files to use the new IntegrationTestHarness framework.
+"""
+
+import sys
+
+from tests.integration.base.test_harness import IntegrationTestHarness
+
+# Add path for proper imports
+sys.path.append("./")
+sys.path.append("./data_engine")
+sys.path.append("./tests/integration")
+
+
+def test_simbox_pipeline():
+    """
+    Test simbox pipeline by running it in Isaac Sim subprocess.
+    This test uses a subprocess wrapper to handle Isaac Sim process separation.
+    """
+    harness = IntegrationTestHarness(config_path="configs/simbox/de_pipe_template.yaml", seed=42, random_num=1)
+
+    # Run in subprocess using Isaac Sim Python interpreter
+    result = harness.run_data_engine_subprocess(
+        runner_script="tests/integration/simbox/runners/simbox_pipeline_runner.py",
+        interpreter="/isaac-sim/python.sh",
+        timeout=1800,  # 30 minutes
+    )
+
+    # Verify subprocess completed successfully
+    assert result.returncode == 0, f"simbox pipeline test failed with return code: {result.returncode}"
+
+    # Validate that output was generated
+    # harness.validate_output_generated(min_files=6)
+
+    print("✓ simbox pipeline test completed successfully")
+
+
+def test_simbox_plan():
+    """
+    Test simbox plan generation by running it in Isaac Sim subprocess.
+    """
+    harness = IntegrationTestHarness(
+        config_path="configs/simbox/de_plan_template.yaml",
+        seed=42,
+        random_num=1,
+    )
+
+    # Run in subprocess using Isaac Sim Python interpreter
+    result = harness.run_data_engine_subprocess(
+        runner_script="tests/integration/simbox/runners/simbox_plan_runner.py",
+        interpreter="/isaac-sim/python.sh",
+        timeout=1800,  # 30 minutes
+    )
+
+    # Verify subprocess completed successfully
+    assert result.returncode == 0, f"simbox plan test failed with return code: {result.returncode}"
+
+    # Validate that output was generated
+    # harness.validate_output_generated(min_files=1)
+
+    print("✓ simbox plan test completed successfully")
+
+
+def test_simbox_render():
+    """
+    Test simbox render by running it in Isaac Sim subprocess.
+    """
+    harness = IntegrationTestHarness(
+        config_path="configs/simbox/de_render_template.yaml",
+        # config_path="tests/integration/simbox/configs/simbox_test_render_configs.yaml",
+        seed=42,
+    )
+
+    reference_dir = "/shared/smartbot_new/zhangyuchang/CI/manip/simbox/simbox_render_ci"
+    # Run in subprocess using Isaac Sim Python interpreter
+    result = harness.run_data_engine_subprocess(
+        runner_script="tests/integration/simbox/runners/simbox_render_runner.py",
+        interpreter="/isaac-sim/python.sh",
+        timeout=1800,  # 30 minutes
+        compare_output=True,
+        reference_dir=reference_dir,
+        comparator="simbox",
+        comparator_args={
+            # Use defaults; override here if needed
+            # "tolerance": 1e-6,
+            # "image_psnr": 37.0,
+        },
+    )
+
+    # Verify subprocess completed successfully
+    assert result.returncode == 0, f"simbox render test failed with return code: {result.returncode}"
+
+    # Validate that output was generated
+    # harness.validate_output_generated(min_files=1)
+
+    print("✓ simbox render test completed successfully")
+
+
+if __name__ == "__main__":
+    # Run all tests when script is executed directly
+    test_simbox_plan()
+    test_simbox_render()
+    test_simbox_pipeline()