Merge pull request #821 from StanfordVL/sensor-mode-test #301
GitHub Actions / Test Results
failed
Aug 12, 2024 in 1s
73 passed, 4 failed and 17 skipped
✅ 10352052897-tests-test_dump_load_states/test_dump_load_states.xml
2 tests were completed in 640s with 2 passed, 0 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 2✅ | 640s |
✅ pytest
tests.test_dump_load_states
✅ test_dump_load
✅ test_dump_load_serialized
✅ 10352052897-tests-test_envs/test_envs.xml
5 tests were completed in 680s with 5 passed, 0 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 5✅ | 680s |
✅ pytest
tests.test_envs
✅ test_dummy_task
✅ test_point_reaching_task
✅ test_point_navigation_task
✅ test_behavior_task
✅ test_rs_int_full_load
✅ 10352052897-tests-test_object_removal/test_object_removal.xml
2 tests were completed in 631s with 2 passed, 0 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 2✅ | 631s |
✅ pytest
tests.test_object_removal
✅ test_removal_and_readdition
✅ test_readdition
✅ 10352052897-tests-test_object_states/test_object_states.xml
32 tests were completed in 782s with 30 passed, 0 failed and 2 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 30✅ | 2⚪ | 782s |
✅ pytest
tests.test_object_states
✅ test_on_top
✅ test_inside
✅ test_under
✅ test_touching
✅ test_contact_bodies
✅ test_next_to
✅ test_overlaid
✅ test_pose
✅ test_aabb
✅ test_adjacency
✅ test_temperature
✅ test_max_temperature
✅ test_heat_source_or_sink
✅ test_cooked
✅ test_burnt
✅ test_frozen
✅ test_heated
✅ test_on_fire
⚪ test_toggled_on
⚪ test_attached_to
✅ test_particle_source
✅ test_particle_sink
✅ test_particle_applier
✅ test_particle_remover
✅ test_saturated
✅ test_open
✅ test_folded_unfolded
✅ test_draped
✅ test_filled
✅ test_contains
✅ test_covered
✅ test_clear_sim
✅ 10352052897-tests-test_primitives/test_primitives.xml
5 tests were completed in 381s with 0 passed, 0 failed and 5 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 5⚪ | 381s |
✅ pytest
tests.test_primitives
⚪ test_navigate
⚪ test_grasp
⚪ test_place
⚪ test_open_prismatic
⚪ test_open_revolute
❌ 10352052897-tests-test_robot_states_flatcache/test_robot_states_flatcache.xml
1 tests were completed in 385s with 0 passed, 1 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1❌ | 385s |
❌ pytest
tests.test_robot_states_flatcache
❌ test_camera_pose_flatcache_on
def test_camera_pose_flatcache_on():
❌ 10352052897-tests-test_robot_states_no_flatcache/test_robot_states_no_flatcache.xml
3 tests were completed in 408s with 0 passed, 3 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 3❌ | 408s |
❌ pytest
tests.test_robot_states_no_flatcache
❌ test_camera_pose_flatcache_off
def test_camera_pose_flatcache_off():
❌ test_camera_semantic_segmentation
def test_camera_semantic_segmentation():
❌ test_object_in_FOV_of_robot
def test_object_in_FOV_of_robot():
✅ 10352052897-tests-test_robot_teleoperation/test_robot_teleoperation.xml
1 tests were completed in 34ms with 0 passed, 0 failed and 1 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1⚪ | 34ms |
✅ pytest
tests.test_robot_teleoperation
⚪ test_teleop
✅ 10352052897-tests-test_sensors/test_sensors.xml
2 tests were completed in 608s with 2 passed, 0 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 2✅ | 608s |
✅ pytest
tests.test_sensors
✅ test_segmentation_modalities
✅ test_bbox_modalities
✅ 10352052897-tests-test_symbolic_primitives/test_symbolic_primitives.xml
10 tests were completed in 583s with 1 passed, 0 failed and 9 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1✅ | 9⚪ | 583s |
✅ pytest
tests.test_symbolic_primitives.TestSymbolicPrimitives
⚪ test_in_hand_state
⚪ test_open
⚪ test_close
⚪ test_place_inside
⚪ test_place_ontop
⚪ test_toggle_on
⚪ test_soak_under
⚪ test_wipe
⚪ test_cut
✅ test_persistent_sticky_grasping
✅ 10352052897-tests-test_systems/test_systems.xml
1 tests were completed in 621s with 1 passed, 0 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1✅ | 621s |
✅ pytest
tests.test_systems
✅ test_system_clear
✅ 10352052897-tests-test_transition_rules/test_transition_rules.xml
30 tests were completed in 752s with 30 passed, 0 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 30✅ | 752s |
✅ pytest
tests.test_transition_rules
✅ test_dryer_rule
✅ test_washer_rule
✅ test_slicing_rule
✅ test_dicing_rule_cooked
✅ test_dicing_rule_uncooked
✅ test_melting_rule
✅ test_cooking_physical_particle_rule_failure_recipe_systems
✅ test_cooking_physical_particle_rule_success
✅ test_mixing_rule_failure_recipe_systems
✅ test_mixing_rule_failure_nonrecipe_systems
✅ test_mixing_rule_success
✅ test_cooking_system_rule_failure_recipe_systems
✅ test_cooking_system_rule_failure_nonrecipe_systems
✅ test_cooking_system_rule_failure_nonrecipe_objects
✅ test_cooking_system_rule_success
✅ test_cooking_object_rule_failure_wrong_container
✅ test_cooking_object_rule_failure_recipe_objects
✅ test_cooking_object_rule_failure_unary_states
✅ test_cooking_object_rule_failure_binary_system_states
✅ test_cooking_object_rule_failure_binary_object_states
✅ test_cooking_object_rule_failure_wrong_heat_source
✅ test_cooking_object_rule_success
✅ test_single_toggleable_machine_rule_output_system_failure_wrong_container
✅ test_single_toggleable_machine_rule_output_system_failure_recipe_systems
✅ test_single_toggleable_machine_rule_output_system_failure_recipe_objects
✅ test_single_toggleable_machine_rule_output_system_failure_nonrecipe_systems
✅ test_single_toggleable_machine_rule_output_system_failure_nonrecipe_objects
✅ test_single_toggleable_machine_rule_output_system_success
✅ test_single_toggleable_machine_rule_output_object_failure_unary_states
✅ test_single_toggleable_machine_rule_output_object_success
Annotations
github-actions / Test Results
pytest ► tests.test_robot_states_flatcache ► test_camera_pose_flatcache_on
Failed test found in:
10352052897-tests-test_robot_states_flatcache/test_robot_states_flatcache.xml
Error:
def test_camera_pose_flatcache_on():
Raw output
def test_camera_pose_flatcache_on():
> camera_pose_test(True)
tests/test_robot_states_flatcache.py:116:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
flatcache = True
def camera_pose_test(flatcache):
env = setup_environment(flatcache)
robot = env.robots[0]
env.reset()
sensors = [s for s in robot.sensors.values() if isinstance(s, VisionSensor)]
assert len(sensors) > 0
vision_sensor = sensors[0]
# Get vision sensor world pose via directly calling get_position_orientation
robot_world_pos, robot_world_ori = robot.get_position_orientation()
sensor_world_pos, sensor_world_ori = vision_sensor.get_position_orientation()
robot_to_sensor_mat = pose2mat(
relative_pose_transform(sensor_world_pos, sensor_world_ori, robot_world_pos, robot_world_ori)
)
sensor_world_pos_gt = np.array([150.16513062, 150.0, 101.39360809])
sensor_world_ori_gt = np.array([-0.29444984, 0.29444979, 0.64288365, -0.64288352])
> assert np.allclose(sensor_world_pos, sensor_world_pos_gt, atol=1e-3)
E assert False
E + where False = <function allclose at 0x7f209fdb77f0>(array([150.16671753, 149.99916077, 101.38970947]), array([150.16513062, 150. , 101.39360809]), atol=0.001)
E + where <function allclose at 0x7f209fdb77f0> = np.allclose
tests/test_robot_states_flatcache.py:64: AssertionError
github-actions / Test Results
pytest ► tests.test_robot_states_no_flatcache ► test_camera_pose_flatcache_off
Failed test found in:
10352052897-tests-test_robot_states_no_flatcache/test_robot_states_no_flatcache.xml
Error:
def test_camera_pose_flatcache_off():
Raw output
def test_camera_pose_flatcache_off():
> camera_pose_test(False)
tests/test_robot_states_no_flatcache.py:11:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
flatcache = False
def camera_pose_test(flatcache):
env = setup_environment(flatcache)
robot = env.robots[0]
env.reset()
sensors = [s for s in robot.sensors.values() if isinstance(s, VisionSensor)]
assert len(sensors) > 0
vision_sensor = sensors[0]
# Get vision sensor world pose via directly calling get_position_orientation
robot_world_pos, robot_world_ori = robot.get_position_orientation()
sensor_world_pos, sensor_world_ori = vision_sensor.get_position_orientation()
robot_to_sensor_mat = pose2mat(
relative_pose_transform(sensor_world_pos, sensor_world_ori, robot_world_pos, robot_world_ori)
)
sensor_world_pos_gt = np.array([150.16513062, 150.0, 101.39360809])
sensor_world_ori_gt = np.array([-0.29444984, 0.29444979, 0.64288365, -0.64288352])
> assert np.allclose(sensor_world_pos, sensor_world_pos_gt, atol=1e-3)
E assert False
E + where False = <function allclose at 0x7fb2a77f77f0>(array([150.16671753, 149.99916077, 101.38970947]), array([150.16513062, 150. , 101.39360809]), atol=0.001)
E + where <function allclose at 0x7fb2a77f77f0> = np.allclose
tests/test_robot_states_flatcache.py:64: AssertionError
github-actions / Test Results
pytest ► tests.test_robot_states_no_flatcache ► test_camera_semantic_segmentation
Failed test found in:
10352052897-tests-test_robot_states_no_flatcache/test_robot_states_no_flatcache.xml
Error:
def test_camera_semantic_segmentation():
Raw output
def test_camera_semantic_segmentation():
> env = setup_environment(False)
tests/test_robot_states_no_flatcache.py:15:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
tests/test_robot_states_flatcache.py:40: in setup_environment
env = og.Environment(configs=config)
omnigibson/utils/python_utils.py:91: in wrapper
func(*values.args, **values.kwargs)
omnigibson/envs/env_base.py:122: in __init__
self.load()
omnigibson/envs/env_base.py:415: in load
self._load_robots()
omnigibson/envs/env_base.py:278: in _load_robots
self.scene.add_object(robot)
omnigibson/scenes/scene_base.py:557: in add_object
prim = obj.load(self)
omnigibson/objects/controllable_object.py:178: in load
prim = super().load(scene)
omnigibson/objects/object_base.py:124: in load
prim = super().load(scene)
omnigibson/prims/prim_base.py:111: in load
self._prim = self._load()
omnigibson/robots/robot_base.py:189: in _load
self._dummy.load(self.scene)
omnigibson/objects/object_base.py:124: in load
prim = super().load(scene)
omnigibson/prims/prim_base.py:117: in load
self._post_load()
omnigibson/objects/object_base.py:162: in _post_load
super()._post_load()
omnigibson/prims/entity_prim.py:127: in _post_load
self.update_links()
omnigibson/prims/entity_prim.py:259: in update_links
self._links[link_name].load(self.scene)
omnigibson/prims/prim_base.py:117: in load
self._post_load()
omnigibson/prims/rigid_prim.py:105: in _post_load
super()._post_load()
omnigibson/prims/xform_prim.py:65: in _post_load
self._set_xform_properties()
omnigibson/prims/xform_prim.py:93: in _set_xform_properties
current_position, current_orientation = self.get_position_orientation()
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
self = <omnigibson.prims.rigid_prim.RigidPrim object at 0x7fafeadc5b10>
def get_position_orientation(self):
# Return cached pose if we're kinematic-only
if self.kinematic_only and self._kinematic_world_pose_cache is not None:
return self._kinematic_world_pose_cache
pos, ori = self._rigid_prim_view.get_world_poses()
> assert np.isclose(
np.linalg.norm(ori), 1, atol=1e-3
), f"{self.prim_path} orientation {ori} is not a unit quaternion."
E AssertionError: /World/scene_1/dummy__fetch__robot0/base_link orientation [[nan nan nan nan]] is not a unit quaternion.
omnigibson/prims/rigid_prim.py:330: AssertionError
github-actions / Test Results
pytest ► tests.test_robot_states_no_flatcache ► test_object_in_FOV_of_robot
Failed test found in:
10352052897-tests-test_robot_states_no_flatcache/test_robot_states_no_flatcache.xml
Error:
def test_object_in_FOV_of_robot():
Raw output
def test_object_in_FOV_of_robot():
> env = setup_environment(False)
tests/test_robot_states_no_flatcache.py:33:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
tests/test_robot_states_flatcache.py:40: in setup_environment
env = og.Environment(configs=config)
omnigibson/utils/python_utils.py:91: in wrapper
func(*values.args, **values.kwargs)
omnigibson/envs/env_base.py:122: in __init__
self.load()
omnigibson/envs/env_base.py:415: in load
self._load_robots()
omnigibson/envs/env_base.py:278: in _load_robots
self.scene.add_object(robot)
omnigibson/scenes/scene_base.py:557: in add_object
prim = obj.load(self)
omnigibson/objects/controllable_object.py:178: in load
prim = super().load(scene)
omnigibson/objects/object_base.py:124: in load
prim = super().load(scene)
omnigibson/prims/prim_base.py:111: in load
self._prim = self._load()
omnigibson/robots/robot_base.py:189: in _load
self._dummy.load(self.scene)
omnigibson/objects/object_base.py:124: in load
prim = super().load(scene)
omnigibson/prims/prim_base.py:117: in load
self._post_load()
omnigibson/objects/object_base.py:162: in _post_load
super()._post_load()
omnigibson/prims/entity_prim.py:127: in _post_load
self.update_links()
omnigibson/prims/entity_prim.py:259: in update_links
self._links[link_name].load(self.scene)
omnigibson/prims/prim_base.py:117: in load
self._post_load()
omnigibson/prims/rigid_prim.py:105: in _post_load
super()._post_load()
omnigibson/prims/xform_prim.py:65: in _post_load
self._set_xform_properties()
omnigibson/prims/xform_prim.py:93: in _set_xform_properties
current_position, current_orientation = self.get_position_orientation()
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
self = <omnigibson.prims.rigid_prim.RigidPrim object at 0x7fb08fb022c0>
def get_position_orientation(self):
# Return cached pose if we're kinematic-only
if self.kinematic_only and self._kinematic_world_pose_cache is not None:
return self._kinematic_world_pose_cache
pos, ori = self._rigid_prim_view.get_world_poses()
> assert np.isclose(
np.linalg.norm(ori), 1, atol=1e-3
), f"{self.prim_path} orientation {ori} is not a unit quaternion."
E AssertionError: /World/scene_2/dummy__fetch__robot0/base_link orientation [[nan nan nan nan]] is not a unit quaternion.
omnigibson/prims/rigid_prim.py:330: AssertionError
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