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Remove simplified mesh from primitives #2298

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Remove simplified mesh from primitives

Remove simplified mesh from primitives #2298

GitHub Actions / Test Results failed Jun 8, 2024 in 0s

80 passed, 1 failed and 13 skipped

Tests failed

Report Passed Failed Skipped Time
9424664799-tests-test_dump_load_states/test_dump_load_states.xml 2✅ 798s
9424664799-tests-test_envs/test_envs.xml 5✅ 815s
9424664799-tests-test_object_removal/test_object_removal.xml 2✅ 554s
9424664799-tests-test_object_states/test_object_states.xml 31✅ 1⚪ 977s
9424664799-tests-test_primitives/test_primitives.xml 3✅ 2⚪ 768s
9424664799-tests-test_robot_states_flatcache/test_robot_states_flatcache.xml 1✅ 478s
9424664799-tests-test_robot_states_no_flatcache/test_robot_states_no_flatcache.xml 3✅ 418s
9424664799-tests-test_robot_teleoperation/test_robot_teleoperation.xml 1⚪ 25ms
9424664799-tests-test_sensors/test_sensors.xml 1✅ 1❌ 554s
9424664799-tests-test_symbolic_primitives/test_symbolic_primitives.xml 1✅ 9⚪ 556s
9424664799-tests-test_systems/test_systems.xml 1✅ 595s
9424664799-tests-test_transition_rules/test_transition_rules.xml 30✅ 738s

✅ 9424664799-tests-test_dump_load_states/test_dump_load_states.xml

2 tests were completed in 798s with 2 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 2✅ 798s

✅ pytest

tests.test_dump_load_states
  ✅ test_dump_load
  ✅ test_dump_load_serialized

✅ 9424664799-tests-test_envs/test_envs.xml

5 tests were completed in 815s with 5 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 5✅ 815s

✅ pytest

tests.test_envs
  ✅ test_dummy_task
  ✅ test_point_reaching_task
  ✅ test_point_navigation_task
  ✅ test_behavior_task
  ✅ test_rs_int_full_load

✅ 9424664799-tests-test_object_removal/test_object_removal.xml

2 tests were completed in 554s with 2 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 2✅ 554s

✅ pytest

tests.test_object_removal
  ✅ test_removal_and_readdition
  ✅ test_readdition

✅ 9424664799-tests-test_object_states/test_object_states.xml

32 tests were completed in 977s with 31 passed, 0 failed and 1 skipped.

Test suite Passed Failed Skipped Time
pytest 31✅ 1⚪ 977s

✅ 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

✅ 9424664799-tests-test_primitives/test_primitives.xml

5 tests were completed in 768s with 3 passed, 0 failed and 2 skipped.

Test suite Passed Failed Skipped Time
pytest 3✅ 2⚪ 768s

✅ pytest

tests.test_primitives
  ✅ test_navigate
  ✅ test_grasp
  ✅ test_place
  ⚪ test_open_prismatic
  ⚪ test_open_revolute

✅ 9424664799-tests-test_robot_states_flatcache/test_robot_states_flatcache.xml

1 tests were completed in 478s with 1 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 1✅ 478s

✅ pytest

tests.test_robot_states_flatcache
  ✅ test_camera_pose_flatcache_on

✅ 9424664799-tests-test_robot_states_no_flatcache/test_robot_states_no_flatcache.xml

3 tests were completed in 418s with 3 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 3✅ 418s

✅ pytest

tests.test_robot_states_no_flatcache
  ✅ test_camera_pose_flatcache_off
  ✅ test_camera_semantic_segmentation
  ✅ test_object_in_FOV_of_robot

✅ 9424664799-tests-test_robot_teleoperation/test_robot_teleoperation.xml

1 tests were completed in 25ms with 0 passed, 0 failed and 1 skipped.

Test suite Passed Failed Skipped Time
pytest 1⚪ 25ms

✅ pytest

tests.test_robot_teleoperation
  ⚪ test_teleop

❌ 9424664799-tests-test_sensors/test_sensors.xml

2 tests were completed in 554s with 1 passed, 1 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 1✅ 1❌ 554s

❌ pytest

tests.test_sensors
  ❌ test_seg
	def wrapper():
  ✅ test_clear_sim

✅ 9424664799-tests-test_symbolic_primitives/test_symbolic_primitives.xml

10 tests were completed in 556s with 1 passed, 0 failed and 9 skipped.

Test suite Passed Failed Skipped Time
pytest 1✅ 9⚪ 556s

✅ 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

✅ 9424664799-tests-test_systems/test_systems.xml

1 tests were completed in 595s with 1 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 1✅ 595s

✅ pytest

tests.test_systems
  ✅ test_system_clear

✅ 9424664799-tests-test_transition_rules/test_transition_rules.xml

30 tests were completed in 738s with 30 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 30✅ 738s

✅ 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

Check failure on line 0 in 9424664799-tests-test_sensors/test_sensors.xml

See this annotation in the file changed.

@github-actions github-actions / Test Results

pytest ► tests.test_sensors ► test_seg 

Failed test found in:
  9424664799-tests-test_sensors/test_sensors.xml
Error:
  def wrapper():
Raw output 
def wrapper():
        assert_test_scene()
        try:
>           func()

tests/utils.py:24: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    @og_test
    def test_seg():
        breakfast_table = og.sim.scene.object_registry("name", "breakfast_table")
        dishtowel = og.sim.scene.object_registry("name", "dishtowel")
        robot = og.sim.scene.robots[0]
        place_obj_on_floor_plane(breakfast_table)
        dishtowel.set_position_orientation([-0.4, 0.0, 0.55], [0, 0, 0, 1])
        robot.set_position_orientation([0, 0.8, 0.0], T.euler2quat([0, 0, -np.pi / 2]))
        robot.reset()
    
        systems = [get_system(system_name) for system_name, system_class in SYSTEM_EXAMPLES.items()]
        for i, system in enumerate(systems):
            # Sample two particles for each system
            pos = np.array([-0.2 + i * 0.2, 0, 0.55])
            if is_physical_particle_system(system_name=system.name):
                system.generate_particles(positions=[pos, pos + np.array([0.1, 0.0, 0.0])])
            else:
                if system.get_group_name(breakfast_table) not in system.groups:
                    system.create_attachment_group(breakfast_table)
                system.generate_group_particles(
                    group=system.get_group_name(breakfast_table),
                    positions=np.array([pos, pos + np.array([0.1, 0.0, 0.0])]),
                    link_prim_paths=[breakfast_table.root_link.prim_path],
                )
    
        og.sim.step()
        og.sim.render()
    
        sensors = [s for s in robot.sensors.values() if isinstance(s, VisionSensor)]
        assert len(sensors) > 0
        vision_sensor = sensors[0]
        all_observation, all_info = vision_sensor.get_obs()
    
        seg_semantic = all_observation["seg_semantic"]
        seg_semantic_info = all_info["seg_semantic"]
        assert set(np.unique(seg_semantic)) == set(seg_semantic_info.keys())
        expected_dict = {
            335706086: "diced__apple",
            825831922: "floors",
            884110082: "stain",
            1949122937: "breakfast_table",
            2814990211: "agent",
            3051938632: "white_rice",
            3330677804: "water",
            4207839377: "dishtowel",
        }
>       assert set(seg_semantic_info.values()) == set(expected_dict.values())
E       AssertionError: assert {'agent', 'br...ain', 'water'} == {'agent', 'br... 'stain', ...}
E         
E         Extra items in the right set:
E         'white_rice'
E         'diced__apple'
E         
E         Full diff:
E           {
E               'agent',
E               'breakfast_table',
E         -     'diced__apple',
E               'dishtowel',
E               'floors',
E               'stain',
E               'water',
E         -     'white_rice',
E           }

tests/test_sensors.py:57: AssertionError
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