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Optional Numpy Compute Backend #2458

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Optional Numpy Compute Backend

Optional Numpy Compute Backend #2458

GitHub Actions / Test Results succeeded Dec 13, 2024 in 1s

99 passed, 6 failed and 7 skipped

Tests failed

Report Passed Failed Skipped Time
12321289323-tests-test_controllers/test_controllers.xml 1✅ 787s
12321289323-tests-test_curobo/test_curobo.xml 1✅ 1182s
12321289323-tests-test_data_collection/test_data_collection.xml 1✅ 1210s
12321289323-tests-test_dump_load_states/test_dump_load_states.xml 4✅ 1548s
12321289323-tests-test_envs/test_envs.xml 5✅ 1915s
12321289323-tests-test_multiple_envs/test_multiple_envs.xml 8✅ 2⚪ 599s
12321289323-tests-test_object_removal/test_object_removal.xml 2✅ 1744s
12321289323-tests-test_object_states/test_object_states.xml 33✅ 1345s
12321289323-tests-test_primitives/test_primitives.xml 6❌ 4⚪ 565s
12321289323-tests-test_robot_states_flatcache/test_robot_states_flatcache.xml 3✅ 1666s
12321289323-tests-test_robot_states_no_flatcache/test_robot_states_no_flatcache.xml 3✅ 623s
12321289323-tests-test_robot_teleoperation/test_robot_teleoperation.xml 1⚪ 30ms
12321289323-tests-test_scene_graph/test_scene_graph.xml 1✅ 469s
12321289323-tests-test_sensors/test_sensors.xml 2✅ 1183s
12321289323-tests-test_systems/test_systems.xml 1✅ 968s
12321289323-tests-test_transform_utils/test_transform_utils.xml 34✅ 161s

✅ 12321289323-tests-test_controllers/test_controllers.xml

1 tests were completed in 787s with 1 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 1✅ 787s

✅ pytest

tests.test_controllers
  ✅ test_arm_control

✅ 12321289323-tests-test_curobo/test_curobo.xml

1 tests were completed in 1182s with 1 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 1✅ 1182s

✅ pytest

tests.test_curobo
  ✅ test_curobo

✅ 12321289323-tests-test_data_collection/test_data_collection.xml

1 tests were completed in 1210s with 1 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 1✅ 1210s

✅ pytest

tests.test_data_collection
  ✅ test_data_collect_and_playback

✅ 12321289323-tests-test_dump_load_states/test_dump_load_states.xml

4 tests were completed in 1548s with 4 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 4✅ 1548s

✅ pytest

tests.test_dump_load_states
  ✅ test_dump_load
  ✅ test_dump_load_serialized
  ✅ test_save_restore_partial
  ✅ test_save_restore_full

✅ 12321289323-tests-test_envs/test_envs.xml

5 tests were completed in 1915s with 5 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 5✅ 1915s

✅ pytest

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

✅ 12321289323-tests-test_multiple_envs/test_multiple_envs.xml

10 tests were completed in 599s with 8 passed, 0 failed and 2 skipped.

Test suite Passed Failed Skipped Time
pytest 8✅ 2⚪ 599s

✅ pytest

tests.test_multiple_envs
  ✅ test_multi_scene_dump_load_states
  ✅ test_multi_scene_get_local_position
  ✅ test_multi_scene_set_local_position
  ✅ test_multi_scene_scene_prim
  ✅ test_multi_scene_particle_source
  ✅ test_multi_scene_position_orientation_relative_to_scene
  ✅ test_tiago_getter
  ✅ test_tiago_setter
  ⚪ test_behavior_getter
  ⚪ test_behavior_setter

✅ 12321289323-tests-test_object_removal/test_object_removal.xml

2 tests were completed in 1744s with 2 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 2✅ 1744s

✅ pytest

tests.test_object_removal
  ✅ test_removal_and_readdition
  ✅ test_readdition

✅ 12321289323-tests-test_object_states/test_object_states.xml

33 tests were completed in 1345s with 33 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 33✅ 1345s

✅ 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_joint
  ✅ 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

❌ 12321289323-tests-test_primitives/test_primitives.xml

10 tests were completed in 565s with 0 passed, 6 failed and 4 skipped.

Test suite Passed Failed Skipped Time
pytest 6❌ 4⚪ 565s

❌ pytest

tests.test_primitives.TestPrimitives
  ❌ test_navigate[Tiago]
	self = <test_primitives.TestPrimitives object at 0x7f1466f9fa90>
  ❌ test_navigate[Fetch]
	self = <test_primitives.TestPrimitives object at 0x7f1466f9d5a0>
  ❌ test_grasp[Tiago]
	self = <test_primitives.TestPrimitives object at 0x7f1466f9cee0>
  ❌ test_grasp[Fetch]
	self = <test_primitives.TestPrimitives object at 0x7f1466f9eb00>
  ❌ test_place[Tiago]
	self = <test_primitives.TestPrimitives object at 0x7f1466f9c580>
  ❌ test_place[Fetch]
	self = <test_primitives.TestPrimitives object at 0x7f1466f9d1b0>
  ⚪ test_open_prismatic[Tiago]
  ⚪ test_open_prismatic[Fetch]
  ⚪ test_open_revolute[Tiago]
  ⚪ test_open_revolute[Fetch]

✅ 12321289323-tests-test_robot_states_flatcache/test_robot_states_flatcache.xml

3 tests were completed in 1666s with 3 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 3✅ 1666s

✅ pytest

tests.test_robot_states_flatcache
  ✅ test_camera_pose_flatcache_on
  ✅ test_robot_load_drive
  ✅ test_grasping_mode

✅ 12321289323-tests-test_robot_states_no_flatcache/test_robot_states_no_flatcache.xml

3 tests were completed in 623s with 3 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 3✅ 623s

✅ pytest

tests.test_robot_states_no_flatcache
  ✅ test_camera_pose_flatcache_off
  ✅ test_camera_semantic_segmentation
  ✅ test_object_in_FOV_of_robot

✅ 12321289323-tests-test_robot_teleoperation/test_robot_teleoperation.xml

1 tests were completed in 30ms with 0 passed, 0 failed and 1 skipped.

Test suite Passed Failed Skipped Time
pytest 1⚪ 30ms

✅ pytest

tests.test_robot_teleoperation
  ⚪ test_teleop

✅ 12321289323-tests-test_scene_graph/test_scene_graph.xml

1 tests were completed in 469s with 1 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 1✅ 469s

✅ pytest

tests.test_scene_graph
  ✅ test_scene_graph

✅ 12321289323-tests-test_sensors/test_sensors.xml

2 tests were completed in 1183s with 2 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 2✅ 1183s

✅ pytest

tests.test_sensors
  ✅ test_segmentation_modalities
  ✅ test_bbox_modalities

✅ 12321289323-tests-test_systems/test_systems.xml

1 tests were completed in 968s with 1 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 1✅ 968s

✅ pytest

tests.test_systems
  ✅ test_system_clear

✅ 12321289323-tests-test_transform_utils/test_transform_utils.xml

34 tests were completed in 161s with 34 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 34✅ 161s

✅ pytest

tests.test_transform_utils.TestQuaternionOperations
  ✅ test_quat2mat_special_cases
  ✅ test_quat_multiply
  ✅ test_quat_conjugate
  ✅ test_quat_inverse
  ✅ test_quat_distance
tests.test_transform_utils.TestVectorOperations
  ✅ test_normalize
  ✅ test_dot_product
  ✅ test_l2_distance
tests.test_transform_utils.TestMatrixOperations
  ✅ test_rotation_matrix_properties
  ✅ test_rotation_matrix
  ✅ test_transformation_matrix
  ✅ test_transformation_matrix_no_point
  ✅ test_matrix_inverse
tests.test_transform_utils.TestCoordinateTransformations
  ✅ test_cartesian_to_polar
tests.test_transform_utils.TestPoseTransformations
  ✅ test_pose2mat_and_mat2pose
  ✅ test_pose_inv
tests.test_transform_utils.TestAxisAngleConversions
  ✅ test_axisangle2quat_and_quat2axisangle
  ✅ test_vecs2axisangle
  ✅ test_vecs2quat
tests.test_transform_utils.TestEulerAngleConversions
  ✅ test_euler2quat_and_quat2euler
  ✅ test_euler2mat_and_mat2euler
tests.test_transform_utils.TestQuaternionApplications
  ✅ test_quat_apply
  ✅ test_quat_slerp
tests.test_transform_utils.TestTransformPoints
  ✅ test_transform_points_2d
  ✅ test_transform_points_3d
tests.test_transform_utils.TestMiscellaneousFunctions
  ✅ test_convert_quat
  ✅ test_random_quaternion
  ✅ test_random_axis_angle
  ✅ test_align_vector_sets
  ✅ test_copysign
  ✅ test_anorm
  ✅ test_check_quat_right_angle
  ✅ test_z_angle_from_quat
  ✅ test_integer_spiral_coordinates

Annotations

Check failure on line 0 in 12321289323-tests-test_primitives/test_primitives.xml

See this annotation in the file changed.

@github-actions github-actions / Test Results

pytest ► tests.test_primitives.TestPrimitives ► test_navigate[Tiago] 

Failed test found in:
  12321289323-tests-test_primitives/test_primitives.xml
Error:
  self = <test_primitives.TestPrimitives object at 0x7f1466f9fa90>
Raw output 
self = <test_primitives.TestPrimitives object at 0x7f1466f9fa90>
robot = 'Tiago'

    def test_navigate(self, robot):
        categories = ["floors", "ceilings", "walls"]
        env = setup_environment(categories, robot=robot)
    
        objects = []
        obj_1 = {
            "object": DatasetObject(name="cologne", category="bottle_of_cologne", model="lyipur"),
            "position": [-0.3, -0.8, 0.5],
            "orientation": [0, 0, 0, 1],
        }
        objects.append(obj_1)
    
        primitives = [StarterSemanticActionPrimitiveSet.NAVIGATE_TO]
        primitives_args = [(obj_1["object"],)]
    
>       primitive_tester(env, objects, primitives, primitives_args)

tests/test_primitives.py:105: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
tests/test_primitives.py:82: in primitive_tester
    execute_controller(controller.apply_ref(primitive, *args, attempts=1), env)
tests/test_primitives.py:69: in execute_controller
    for action in ctrl_gen:
omnigibson/action_primitives/starter_semantic_action_primitives.py:518: in apply_ref
    yield from ctrl(*args)
omnigibson/action_primitives/starter_semantic_action_primitives.py:1682: in _navigate_to_obj
    pose = self._sample_pose_near_object(obj, pose_on_obj=pose_on_obj, **kwargs)
omnigibson/action_primitives/starter_semantic_action_primitives.py:1808: in _sample_pose_near_object
    with PlanningContext(self.env, self.robot, self.robot_copy, "simplified") as context:
omnigibson/action_primitives/starter_semantic_action_primitives.py:146: in __enter__
    self._assemble_robot_copy()
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <omnigibson.action_primitives.starter_semantic_action_primitives.PlanningContext object at 0x7f143bf551e0>

    def _assemble_robot_copy(self):
        if m.TIAGO_TORSO_FIXED:
            fk_descriptor = "left_fixed"
        else:
            fk_descriptor = (
>               "combined" if "combined" in self.robot.robot_arm_descriptor_yamls else self.robot.default_arm
            )
E           AttributeError: 'Tiago' object has no attribute 'robot_arm_descriptor_yamls'

omnigibson/action_primitives/starter_semantic_action_primitives.py:160: AttributeError

Check failure on line 0 in 12321289323-tests-test_primitives/test_primitives.xml

See this annotation in the file changed.

@github-actions github-actions / Test Results

pytest ► tests.test_primitives.TestPrimitives ► test_navigate[Fetch] 

Failed test found in:
  12321289323-tests-test_primitives/test_primitives.xml
Error:
  self = <test_primitives.TestPrimitives object at 0x7f1466f9d5a0>
Raw output 
self = <test_primitives.TestPrimitives object at 0x7f1466f9d5a0>
robot = 'Fetch'

    def test_navigate(self, robot):
        categories = ["floors", "ceilings", "walls"]
        env = setup_environment(categories, robot=robot)
    
        objects = []
        obj_1 = {
            "object": DatasetObject(name="cologne", category="bottle_of_cologne", model="lyipur"),
            "position": [-0.3, -0.8, 0.5],
            "orientation": [0, 0, 0, 1],
        }
        objects.append(obj_1)
    
        primitives = [StarterSemanticActionPrimitiveSet.NAVIGATE_TO]
        primitives_args = [(obj_1["object"],)]
    
>       primitive_tester(env, objects, primitives, primitives_args)

tests/test_primitives.py:105: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
tests/test_primitives.py:82: in primitive_tester
    execute_controller(controller.apply_ref(primitive, *args, attempts=1), env)
tests/test_primitives.py:69: in execute_controller
    for action in ctrl_gen:
omnigibson/action_primitives/starter_semantic_action_primitives.py:518: in apply_ref
    yield from ctrl(*args)
omnigibson/action_primitives/starter_semantic_action_primitives.py:1682: in _navigate_to_obj
    pose = self._sample_pose_near_object(obj, pose_on_obj=pose_on_obj, **kwargs)
omnigibson/action_primitives/starter_semantic_action_primitives.py:1808: in _sample_pose_near_object
    with PlanningContext(self.env, self.robot, self.robot_copy, "simplified") as context:
omnigibson/action_primitives/starter_semantic_action_primitives.py:146: in __enter__
    self._assemble_robot_copy()
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <omnigibson.action_primitives.starter_semantic_action_primitives.PlanningContext object at 0x7f1461b66260>

    def _assemble_robot_copy(self):
        if m.TIAGO_TORSO_FIXED:
            fk_descriptor = "left_fixed"
        else:
            fk_descriptor = (
>               "combined" if "combined" in self.robot.robot_arm_descriptor_yamls else self.robot.default_arm
            )
E           AttributeError: 'Fetch' object has no attribute 'robot_arm_descriptor_yamls'

omnigibson/action_primitives/starter_semantic_action_primitives.py:160: AttributeError

Check failure on line 0 in 12321289323-tests-test_primitives/test_primitives.xml

See this annotation in the file changed.

@github-actions github-actions / Test Results

pytest ► tests.test_primitives.TestPrimitives ► test_grasp[Tiago] 

Failed test found in:
  12321289323-tests-test_primitives/test_primitives.xml
Error:
  self = <test_primitives.TestPrimitives object at 0x7f1466f9cee0>
Raw output 
self = <test_primitives.TestPrimitives object at 0x7f1466f9cee0>
robot = 'Tiago'

    def test_grasp(self, robot):
        categories = ["floors", "ceilings", "walls", "coffee_table"]
        env = setup_environment(categories, robot=robot)
    
        objects = []
        obj_1 = {
            "object": DatasetObject(name="cologne", category="bottle_of_cologne", model="lyipur"),
            "position": [-0.3, -0.8, 0.5],
            "orientation": [0, 0, 0, 1],
        }
        objects.append(obj_1)
    
        primitives = [StarterSemanticActionPrimitiveSet.GRASP]
        primitives_args = [(obj_1["object"],)]
    
>       primitive_tester(env, objects, primitives, primitives_args)

tests/test_primitives.py:122: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
tests/test_primitives.py:82: in primitive_tester
    execute_controller(controller.apply_ref(primitive, *args, attempts=1), env)
tests/test_primitives.py:69: in execute_controller
    for action in ctrl_gen:
omnigibson/action_primitives/starter_semantic_action_primitives.py:518: in apply_ref
    yield from ctrl(*args)
omnigibson/action_primitives/starter_semantic_action_primitives.py:743: in _grasp
    yield from self._navigate_if_needed(obj, pose_on_obj=grasp_pose)
omnigibson/action_primitives/starter_semantic_action_primitives.py:1663: in _navigate_if_needed
    if self._target_in_reach_of_robot(pose_on_obj):
omnigibson/action_primitives/starter_semantic_action_primitives.py:913: in _target_in_reach_of_robot
    return self._target_in_reach_of_robot_relative(relative_target_pose)
omnigibson/action_primitives/starter_semantic_action_primitives.py:925: in _target_in_reach_of_robot_relative
    return self._ik_solver_cartesian_to_joint_space(relative_target_pose) is not None
omnigibson/action_primitives/starter_semantic_action_primitives.py:965: in _ik_solver_cartesian_to_joint_space
    robot_description_path=self._manipulation_descriptor_path,
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <omnigibson.action_primitives.starter_semantic_action_primitives.StarterSemanticActionPrimitives object at 0x7f146ef480a0>

    @property
    def _manipulation_descriptor_path(self):
        """The appropriate manipulation descriptor for the current settings."""
        if isinstance(self.robot, Tiago) and m.TIAGO_TORSO_FIXED:
            assert self.arm == "left", "Fixed torso mode only supports left arm!"
            return self.robot.robot_arm_descriptor_yamls["left_fixed"]
    
        # Otherwise just return the default arm control idx
>       return self.robot.robot_arm_descriptor_yamls[self.arm]
E       AttributeError: 'Tiago' object has no attribute 'robot_arm_descriptor_yamls'

omnigibson/action_primitives/starter_semantic_action_primitives.py:950: AttributeError

Check failure on line 0 in 12321289323-tests-test_primitives/test_primitives.xml

See this annotation in the file changed.

@github-actions github-actions / Test Results

pytest ► tests.test_primitives.TestPrimitives ► test_grasp[Fetch] 

Failed test found in:
  12321289323-tests-test_primitives/test_primitives.xml
Error:
  self = <test_primitives.TestPrimitives object at 0x7f1466f9eb00>
Raw output 
self = <test_primitives.TestPrimitives object at 0x7f1466f9eb00>
robot = 'Fetch'

    def test_grasp(self, robot):
        categories = ["floors", "ceilings", "walls", "coffee_table"]
        env = setup_environment(categories, robot=robot)
    
        objects = []
        obj_1 = {
            "object": DatasetObject(name="cologne", category="bottle_of_cologne", model="lyipur"),
            "position": [-0.3, -0.8, 0.5],
            "orientation": [0, 0, 0, 1],
        }
        objects.append(obj_1)
    
        primitives = [StarterSemanticActionPrimitiveSet.GRASP]
        primitives_args = [(obj_1["object"],)]
    
>       primitive_tester(env, objects, primitives, primitives_args)

tests/test_primitives.py:122: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
tests/test_primitives.py:82: in primitive_tester
    execute_controller(controller.apply_ref(primitive, *args, attempts=1), env)
tests/test_primitives.py:69: in execute_controller
    for action in ctrl_gen:
omnigibson/action_primitives/starter_semantic_action_primitives.py:518: in apply_ref
    yield from ctrl(*args)
omnigibson/action_primitives/starter_semantic_action_primitives.py:743: in _grasp
    yield from self._navigate_if_needed(obj, pose_on_obj=grasp_pose)
omnigibson/action_primitives/starter_semantic_action_primitives.py:1663: in _navigate_if_needed
    if self._target_in_reach_of_robot(pose_on_obj):
omnigibson/action_primitives/starter_semantic_action_primitives.py:913: in _target_in_reach_of_robot
    return self._target_in_reach_of_robot_relative(relative_target_pose)
omnigibson/action_primitives/starter_semantic_action_primitives.py:925: in _target_in_reach_of_robot_relative
    return self._ik_solver_cartesian_to_joint_space(relative_target_pose) is not None
omnigibson/action_primitives/starter_semantic_action_primitives.py:965: in _ik_solver_cartesian_to_joint_space
    robot_description_path=self._manipulation_descriptor_path,
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <omnigibson.action_primitives.starter_semantic_action_primitives.StarterSemanticActionPrimitives object at 0x7f1441fb1c00>

    @property
    def _manipulation_descriptor_path(self):
        """The appropriate manipulation descriptor for the current settings."""
        if isinstance(self.robot, Tiago) and m.TIAGO_TORSO_FIXED:
            assert self.arm == "left", "Fixed torso mode only supports left arm!"
            return self.robot.robot_arm_descriptor_yamls["left_fixed"]
    
        # Otherwise just return the default arm control idx
>       return self.robot.robot_arm_descriptor_yamls[self.arm]
E       AttributeError: 'Fetch' object has no attribute 'robot_arm_descriptor_yamls'

omnigibson/action_primitives/starter_semantic_action_primitives.py:950: AttributeError

Check failure on line 0 in 12321289323-tests-test_primitives/test_primitives.xml

See this annotation in the file changed.

@github-actions github-actions / Test Results

pytest ► tests.test_primitives.TestPrimitives ► test_place[Tiago] 

Failed test found in:
  12321289323-tests-test_primitives/test_primitives.xml
Error:
  self = <test_primitives.TestPrimitives object at 0x7f1466f9c580>
Raw output 
self = <test_primitives.TestPrimitives object at 0x7f1466f9c580>
robot = 'Tiago'

    def test_place(self, robot):
        categories = ["floors", "ceilings", "walls", "coffee_table"]
        env = setup_environment(categories, robot=robot)
    
        objects = []
        obj_1 = {
            "object": DatasetObject(name="table", category="breakfast_table", model="rjgmmy", scale=[0.3, 0.3, 0.3]),
            "position": [-0.7, 0.5, 0.2],
            "orientation": [0, 0, 0, 1],
        }
        obj_2 = {
            "object": DatasetObject(name="cologne", category="bottle_of_cologne", model="lyipur"),
            "position": [-0.3, -0.8, 0.5],
            "orientation": [0, 0, 0, 1],
        }
        objects.append(obj_1)
        objects.append(obj_2)
    
        primitives = [StarterSemanticActionPrimitiveSet.GRASP, StarterSemanticActionPrimitiveSet.PLACE_ON_TOP]
        primitives_args = [(obj_2["object"],), (obj_1["object"],)]
    
>       primitive_tester(env, objects, primitives, primitives_args)

tests/test_primitives.py:145: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
tests/test_primitives.py:82: in primitive_tester
    execute_controller(controller.apply_ref(primitive, *args, attempts=1), env)
tests/test_primitives.py:69: in execute_controller
    for action in ctrl_gen:
omnigibson/action_primitives/starter_semantic_action_primitives.py:518: in apply_ref
    yield from ctrl(*args)
omnigibson/action_primitives/starter_semantic_action_primitives.py:743: in _grasp
    yield from self._navigate_if_needed(obj, pose_on_obj=grasp_pose)
omnigibson/action_primitives/starter_semantic_action_primitives.py:1663: in _navigate_if_needed
    if self._target_in_reach_of_robot(pose_on_obj):
omnigibson/action_primitives/starter_semantic_action_primitives.py:913: in _target_in_reach_of_robot
    return self._target_in_reach_of_robot_relative(relative_target_pose)
omnigibson/action_primitives/starter_semantic_action_primitives.py:925: in _target_in_reach_of_robot_relative
    return self._ik_solver_cartesian_to_joint_space(relative_target_pose) is not None
omnigibson/action_primitives/starter_semantic_action_primitives.py:965: in _ik_solver_cartesian_to_joint_space
    robot_description_path=self._manipulation_descriptor_path,
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <omnigibson.action_primitives.starter_semantic_action_primitives.StarterSemanticActionPrimitives object at 0x7f142d32d8a0>

    @property
    def _manipulation_descriptor_path(self):
        """The appropriate manipulation descriptor for the current settings."""
        if isinstance(self.robot, Tiago) and m.TIAGO_TORSO_FIXED:
            assert self.arm == "left", "Fixed torso mode only supports left arm!"
            return self.robot.robot_arm_descriptor_yamls["left_fixed"]
    
        # Otherwise just return the default arm control idx
>       return self.robot.robot_arm_descriptor_yamls[self.arm]
E       AttributeError: 'Tiago' object has no attribute 'robot_arm_descriptor_yamls'

omnigibson/action_primitives/starter_semantic_action_primitives.py:950: AttributeError

Check failure on line 0 in 12321289323-tests-test_primitives/test_primitives.xml

See this annotation in the file changed.

@github-actions github-actions / Test Results

pytest ► tests.test_primitives.TestPrimitives ► test_place[Fetch] 

Failed test found in:
  12321289323-tests-test_primitives/test_primitives.xml
Error:
  self = <test_primitives.TestPrimitives object at 0x7f1466f9d1b0>
Raw output 
self = <test_primitives.TestPrimitives object at 0x7f1466f9d1b0>
robot = 'Fetch'

    def test_place(self, robot):
        categories = ["floors", "ceilings", "walls", "coffee_table"]
        env = setup_environment(categories, robot=robot)
    
        objects = []
        obj_1 = {
            "object": DatasetObject(name="table", category="breakfast_table", model="rjgmmy", scale=[0.3, 0.3, 0.3]),
            "position": [-0.7, 0.5, 0.2],
            "orientation": [0, 0, 0, 1],
        }
        obj_2 = {
            "object": DatasetObject(name="cologne", category="bottle_of_cologne", model="lyipur"),
            "position": [-0.3, -0.8, 0.5],
            "orientation": [0, 0, 0, 1],
        }
        objects.append(obj_1)
        objects.append(obj_2)
    
        primitives = [StarterSemanticActionPrimitiveSet.GRASP, StarterSemanticActionPrimitiveSet.PLACE_ON_TOP]
        primitives_args = [(obj_2["object"],), (obj_1["object"],)]
    
>       primitive_tester(env, objects, primitives, primitives_args)

tests/test_primitives.py:145: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
tests/test_primitives.py:82: in primitive_tester
    execute_controller(controller.apply_ref(primitive, *args, attempts=1), env)
tests/test_primitives.py:69: in execute_controller
    for action in ctrl_gen:
omnigibson/action_primitives/starter_semantic_action_primitives.py:518: in apply_ref
    yield from ctrl(*args)
omnigibson/action_primitives/starter_semantic_action_primitives.py:743: in _grasp
    yield from self._navigate_if_needed(obj, pose_on_obj=grasp_pose)
omnigibson/action_primitives/starter_semantic_action_primitives.py:1663: in _navigate_if_needed
    if self._target_in_reach_of_robot(pose_on_obj):
omnigibson/action_primitives/starter_semantic_action_primitives.py:913: in _target_in_reach_of_robot
    return self._target_in_reach_of_robot_relative(relative_target_pose)
omnigibson/action_primitives/starter_semantic_action_primitives.py:925: in _target_in_reach_of_robot_relative
    return self._ik_solver_cartesian_to_joint_space(relative_target_pose) is not None
omnigibson/action_primitives/starter_semantic_action_primitives.py:965: in _ik_solver_cartesian_to_joint_space
    robot_description_path=self._manipulation_descriptor_path,
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <omnigibson.action_primitives.starter_semantic_action_primitives.StarterSemanticActionPrimitives object at 0x7f142311f6a0>

    @property
    def _manipulation_descriptor_path(self):
        """The appropriate manipulation descriptor for the current settings."""
        if isinstance(self.robot, Tiago) and m.TIAGO_TORSO_FIXED:
            assert self.arm == "left", "Fixed torso mode only supports left arm!"
            return self.robot.robot_arm_descriptor_yamls["left_fixed"]
    
        # Otherwise just return the default arm control idx
>       return self.robot.robot_arm_descriptor_yamls[self.arm]
E       AttributeError: 'Fetch' object has no attribute 'robot_arm_descriptor_yamls'

omnigibson/action_primitives/starter_semantic_action_primitives.py:950: AttributeError
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