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Revive action primitives examples and tests #2209

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Revive action primitives examples and tests

Revive action primitives examples and tests #2209

GitHub Actions / Test Results succeeded Sep 30, 2024 in 1s

120 passed, 2 failed and 9 skipped

Tests failed

Report Passed Failed Skipped Time
11113791236-tests-test_controllers/test_controllers.xml 1❌ 795s
11113791236-tests-test_data_collection/test_data_collection.xml 1✅ 763s
11113791236-tests-test_dump_load_states/test_dump_load_states.xml 4✅ 1855s
11113791236-tests-test_envs/test_envs.xml 5✅ 751s
11113791236-tests-test_multiple_envs/test_multiple_envs.xml 8✅ 2⚪ 528s
11113791236-tests-test_object_removal/test_object_removal.xml 2✅ 1224s
11113791236-tests-test_object_states/test_object_states.xml 33✅ 2009s
11113791236-tests-test_primitives/test_primitives.xml 5✅ 1❌ 4⚪ 2662s
11113791236-tests-test_robot_states_flatcache/test_robot_states_flatcache.xml 3✅ 1395s
11113791236-tests-test_robot_states_no_flatcache/test_robot_states_no_flatcache.xml 3✅ 470s
11113791236-tests-test_robot_teleoperation/test_robot_teleoperation.xml 1⚪ 33ms
11113791236-tests-test_scene_graph/test_scene_graph.xml 1✅ 482s
11113791236-tests-test_sensors/test_sensors.xml 2✅ 1938s
11113791236-tests-test_symbolic_primitives/test_symbolic_primitives.xml 18✅ 2⚪ 1546s
11113791236-tests-test_systems/test_systems.xml 1✅ 1496s
11113791236-tests-test_transform_utils/test_transform_utils.xml 34✅ 515ms

❌ 11113791236-tests-test_controllers/test_controllers.xml

1 tests were completed in 795s with 0 passed, 1 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 1❌ 795s

❌ pytest

tests.test_controllers
  ❌ test_arm_control
	def test_arm_control():

✅ 11113791236-tests-test_data_collection/test_data_collection.xml

1 tests were completed in 763s with 1 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 1✅ 763s

✅ pytest

tests.test_data_collection
  ✅ test_data_collect_and_playback

✅ 11113791236-tests-test_dump_load_states/test_dump_load_states.xml

4 tests were completed in 1855s with 4 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 4✅ 1855s

✅ pytest

tests.test_dump_load_states
  ✅ test_dump_load
  ✅ test_dump_load_serialized
  ✅ test_save_restore_partial
  ✅ test_save_restore_full

✅ 11113791236-tests-test_envs/test_envs.xml

5 tests were completed in 751s with 5 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 5✅ 751s

✅ pytest

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

✅ 11113791236-tests-test_multiple_envs/test_multiple_envs.xml

10 tests were completed in 528s with 8 passed, 0 failed and 2 skipped.

Test suite Passed Failed Skipped Time
pytest 8✅ 2⚪ 528s

✅ 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

✅ 11113791236-tests-test_object_removal/test_object_removal.xml

2 tests were completed in 1224s with 2 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 2✅ 1224s

✅ pytest

tests.test_object_removal
  ✅ test_removal_and_readdition
  ✅ test_readdition

✅ 11113791236-tests-test_object_states/test_object_states.xml

33 tests were completed in 2009s with 33 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 33✅ 2009s

✅ 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

❌ 11113791236-tests-test_primitives/test_primitives.xml

10 tests were completed in 2662s with 5 passed, 1 failed and 4 skipped.

Test suite Passed Failed Skipped Time
pytest 5✅ 1❌ 4⚪ 2662s

❌ pytest

tests.test_primitives.TestPrimitives
  ✅ test_navigate[Tiago]
  ✅ test_navigate[Fetch]
  ✅ test_grasp[Tiago]
  ✅ test_grasp[Fetch]
  ❌ test_place[Tiago]
	self = <test_primitives.TestPrimitives object at 0x7ff1d07bed40>
  ✅ test_place[Fetch]
  ⚪ test_open_prismatic[Tiago]
  ⚪ test_open_prismatic[Fetch]
  ⚪ test_open_revolute[Tiago]
  ⚪ test_open_revolute[Fetch]

✅ 11113791236-tests-test_robot_states_flatcache/test_robot_states_flatcache.xml

3 tests were completed in 1395s with 3 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 3✅ 1395s

✅ pytest

tests.test_robot_states_flatcache
  ✅ test_camera_pose_flatcache_on
  ✅ test_robot_load_drive
  ✅ test_grasping_mode

✅ 11113791236-tests-test_robot_states_no_flatcache/test_robot_states_no_flatcache.xml

3 tests were completed in 470s with 3 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 3✅ 470s

✅ pytest

tests.test_robot_states_no_flatcache
  ✅ test_camera_pose_flatcache_off
  ✅ test_camera_semantic_segmentation
  ✅ test_object_in_FOV_of_robot

✅ 11113791236-tests-test_robot_teleoperation/test_robot_teleoperation.xml

1 tests were completed in 33ms with 0 passed, 0 failed and 1 skipped.

Test suite Passed Failed Skipped Time
pytest 1⚪ 33ms

✅ pytest

tests.test_robot_teleoperation
  ⚪ test_teleop

✅ 11113791236-tests-test_scene_graph/test_scene_graph.xml

1 tests were completed in 482s with 1 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 1✅ 482s

✅ pytest

tests.test_scene_graph
  ✅ test_scene_graph

✅ 11113791236-tests-test_sensors/test_sensors.xml

2 tests were completed in 1938s with 2 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 2✅ 1938s

✅ pytest

tests.test_sensors
  ✅ test_segmentation_modalities
  ✅ test_bbox_modalities

✅ 11113791236-tests-test_symbolic_primitives/test_symbolic_primitives.xml

20 tests were completed in 1546s with 18 passed, 0 failed and 2 skipped.

Test suite Passed Failed Skipped Time
pytest 18✅ 2⚪ 1546s

✅ pytest

tests.test_symbolic_primitives.TestSymbolicPrimitives
  ✅ test_in_hand_state[Fetch]
  ✅ test_open[Fetch]
  ✅ test_close[Fetch]
  ✅ test_place_inside[Fetch]
  ✅ test_place_ontop[Fetch]
  ✅ test_toggle_on[Fetch]
  ✅ test_soak_under[Fetch]
  ✅ test_wipe[Fetch]
  ⚪ test_cut[Fetch]
  ✅ test_persistent_sticky_grasping[Fetch]
  ✅ test_in_hand_state[Tiago]
  ✅ test_open[Tiago]
  ✅ test_close[Tiago]
  ✅ test_place_inside[Tiago]
  ✅ test_place_ontop[Tiago]
  ✅ test_toggle_on[Tiago]
  ✅ test_soak_under[Tiago]
  ✅ test_wipe[Tiago]
  ⚪ test_cut[Tiago]
  ✅ test_persistent_sticky_grasping[Tiago]

✅ 11113791236-tests-test_systems/test_systems.xml

1 tests were completed in 1496s with 1 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 1✅ 1496s

✅ pytest

tests.test_systems
  ✅ test_system_clear

✅ 11113791236-tests-test_transform_utils/test_transform_utils.xml

34 tests were completed in 515ms with 34 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 34✅ 515ms

✅ 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 11113791236-tests-test_controllers/test_controllers.xml

See this annotation in the file changed.

@github-actions github-actions / Test Results

pytest ► tests.test_controllers ► test_arm_control 

Failed test found in:
  11113791236-tests-test_controllers/test_controllers.xml
Error:
  def test_arm_control():
Raw output 
def test_arm_control():
        # Create env
        cfg = {
            "scene": {
                "type": "Scene",
            },
            "objects": [],
            "robots": [
                {
                    "type": "FrankaPanda",
                    "obs_modalities": "rgb",
                    "position": [150, 150, 100],
                    "orientation": [0, 0, 0, 1],
                    "action_normalize": False,
                },
                {
                    "type": "Fetch",
                    "obs_modalities": "rgb",
                    "position": [150, 150, 105],
                    "orientation": [0, 0, 0, 1],
                    "action_normalize": False,
                },
                {
                    "type": "Tiago",
                    "obs_modalities": "rgb",
                    "position": [150, 150, 110],
                    "orientation": [0, 0, 0, 1],
                    "action_normalize": False,
                },
                {
                    "type": "A1",
                    "obs_modalities": "rgb",
                    "position": [150, 150, 115],
                    "orientation": [0, 0, 0, 1],
                    "action_normalize": False,
                },
                {
                    "type": "R1",
                    "obs_modalities": "rgb",
                    "position": [150, 150, 120],
                    "orientation": [0, 0, 0, 1],
                    "action_normalize": False,
                },
            ],
        }
        env = og.Environment(configs=cfg)
    
        # Define error functions to use
        def check_zero_error(curr_position, init_position, tol=1e-2):
            return th.norm(curr_position - init_position).item() < tol
    
        def check_forward_error(curr_position, init_position, tol=1e-2, forward_tol=1e-2):
            # x should be positive
            return (curr_position[0] - init_position[0]).item() > forward_tol and th.norm(
                curr_position[[1, 2]] - init_position[[1, 2]]
            ).item() < tol
    
        def check_side_error(curr_position, init_position, tol=1e-2, side_tol=1e-2):
            # y should be positive
            return (curr_position[1] - init_position[1]).item() > side_tol and th.norm(
                curr_position[[0, 2]] - init_position[[0, 2]]
            ).item() < tol
    
        def check_up_error(curr_position, init_position, tol=1e-2, up_tol=1e-2):
            # z should be positive
            return (curr_position[2] - init_position[2]).item() > up_tol and th.norm(
                curr_position[[0, 1]] - init_position[[0, 1]]
            ).item() < tol
    
        def check_ori_error(curr_orientation, init_orientation, tol=0.1):
            ori_err_normalized = th.norm(
                T.quat2axisangle(T.mat2quat(T.quat2mat(init_orientation).T @ T.quat2mat(curr_orientation)))
            ).item() / (np.pi * 2)
            ori_err = np.abs(np.pi * 2 * (np.round(ori_err_normalized) - ori_err_normalized))
            return ori_err < tol
    
        # All functions take in (target, curr, init) tuple
        err_checks = {
            "pose_delta_ori": {
                "zero": {
                    "pos": lambda target, curr, init: check_zero_error(curr, init),
                    "ori": lambda target, curr, init: check_ori_error(curr, init),
                },
                "forward": {
                    "pos": lambda target, curr, init: check_forward_error(curr, init),
                    "ori": lambda target, curr, init: check_ori_error(curr, init),
                },
                "side": {
                    "pos": lambda target, curr, init: check_side_error(curr, init),
                    "ori": lambda target, curr, init: check_ori_error(curr, init),
                },
                "up": {
                    "pos": lambda target, curr, init: check_up_error(curr, init),
                    "ori": lambda target, curr, init: check_ori_error(curr, init),
                },
                "rotate": {
                    "pos": lambda target, curr, init: check_zero_error(curr, init),
                    "ori": None,
                },
                "base_move": {
                    "pos": lambda target, curr, init: check_zero_error(
                        curr, init, tol=0.02
                    ),  # Slightly bigger tolerance with base moving
                    "ori": lambda target, curr, init: check_ori_error(curr, init),
                },
            },
            "absolute_pose": {
                "zero": {
                    "pos": lambda target, curr, init: check_zero_error(target, curr, tol=5e-3),
                    "ori": lambda target, curr, init: check_ori_error(target, curr),
                },
                "forward": {
                    "pos": lambda target, curr, init: check_zero_error(target, curr, tol=5e-3),
                    "ori": lambda target, curr, init: check_ori_error(target, curr),
                },
                "side": {
                    "pos": lambda target, curr, init: check_zero_error(target, curr, tol=5e-3),
                    "ori": lambda target, curr, init: check_ori_error(target, curr),
                },
                "up": {
                    "pos": lambda target, curr, init: check_zero_error(target, curr, tol=5e-3),
                    "ori": lambda target, curr, init: check_ori_error(target, curr),
                },
                "rotate": {
                    "pos": lambda target, curr, init: check_zero_error(target, curr, tol=5e-3),
                    "ori": lambda target, curr, init: check_ori_error(target, curr, tol=0.05),
                },
                "base_move": {
                    "pos": lambda target, curr, init: check_zero_error(target, curr, tol=5e-3),
                    "ori": lambda target, curr, init: check_ori_error(target, curr),
                },
            },
        }
    
        n_steps = {
            "pose_delta_ori": {
                "zero": 10,
                "forward": 10,
                "side": 10,
                "up": 10,
                "rotate": 10,
                "base_move": 30,
            },
            "absolute_pose": {
                "zero": 50,
                "forward": 50,
                "side": 50,
                "up": 50,
                "rotate": 50,
                "base_move": 50,
            },
        }
    
        # Position the robots, reset them, and keep them still
        for i, robot in enumerate(env.robots):
            robot.set_position_orientation(
                position=th.tensor([0.0, i * 5.0, 0.0]), orientation=T.euler2quat(th.tensor([0.0, 0.0, np.pi / 3]))
            )
            robot.reset()
            robot.keep_still()
    
        # Take 10 steps to stabilize
        for _ in range(10):
            og.sim.step()
    
        # Update initial state
        env.scene.update_initial_state()
    
        # Reset the environment and keep all robots still
        env.reset()
        for i, robot in enumerate(env.robots):
            robot.keep_still()
    
        # Record initial eef pose of all robots
        initial_eef_pose = dict()
        for i, robot in enumerate(env.robots):
            initial_eef_pose[robot.name] = {arm: robot.get_relative_eef_pose(arm=arm) for arm in robot.arm_names}
    
        for controller in ["InverseKinematicsController", "OperationalSpaceController"]:
            for controller_mode in ["pose_delta_ori", "absolute_pose"]:
                controller_kwargs = {
                    "mode": controller_mode,
                }
                if controller_mode == "absolute_pose":
                    controller_kwargs["command_input_limits"] = None
                    controller_kwargs["command_output_limits"] = None
                actions = {
                    "zero": dict(),
                    "forward": dict(),
                    "side": dict(),
                    "up": dict(),
                    "rotate": dict(),
                    "base_move": dict(),
                }
    
                for i, robot in enumerate(env.robots):
                    controller_config = {f"arm_{arm}": {"name": controller, **controller_kwargs} for arm in robot.arm_names}
                    robot.reload_controllers(controller_config)
                    # reload the state for controllers
                    env.scene.update_initial_state()
    
                    # Define actions to use
                    zero_action = th.zeros(robot.action_dim)
                    forward_action = th.zeros(robot.action_dim)
                    side_action = th.zeros(robot.action_dim)
                    up_action = th.zeros(robot.action_dim)
                    rot_action = th.zeros(robot.action_dim)
    
                    # Populate actions and targets
                    for arm in robot.arm_names:
                        c_name = f"arm_{arm}"
                        start_idx = 0
                        init_eef_pos, init_eef_quat = initial_eef_pose[robot.name][arm]
                        for c in robot.controller_order:
                            if c == c_name:
                                break
                            start_idx += robot.controllers[c].command_dim
                        if controller_mode == "pose_delta_ori":
                            forward_action[start_idx] = 0.1
                            side_action[start_idx + 1] = 0.1
                            up_action[start_idx + 2] = 0.1
                            rot_action[start_idx + 3] = 0.1
                        elif controller_mode == "absolute_pose":
                            for act in [zero_action, forward_action, side_action, up_action, rot_action]:
                                act[start_idx : start_idx + 3] = init_eef_pos.clone()
                                act[start_idx + 3 : start_idx + 6] = T.quat2axisangle(init_eef_quat.clone())
                            forward_action[start_idx] += 0.1
                            side_action[start_idx + 1] += 0.1
                            up_action[start_idx + 2] += 0.1
                            rot_action[start_idx + 3 : start_idx + 6] = T.quat2axisangle(
                                T.quat_multiply(T.euler2quat(th.tensor([th.pi / 10, 0, 0])), init_eef_quat.clone())
                            )
    
                        else:
                            raise ValueError(f"Got invalid controller mode: {controller}")
                    actions["zero"][robot.name] = zero_action
                    actions["forward"][robot.name] = forward_action
                    actions["side"][robot.name] = side_action
                    actions["up"][robot.name] = up_action
                    actions["rotate"][robot.name] = rot_action
    
                    # Add base movement action if locomotion robot
                    base_move_action = zero_action.clone()
                    if isinstance(robot, LocomotionRobot):
                        c_name = "base"
                        start_idx = 0
                        for c in robot.controller_order:
                            if c == c_name:
                                break
                            start_idx += robot.controllers[c].command_dim
                        base_move_action[start_idx] = 0.1
                    actions["base_move"][robot.name] = base_move_action
    
                # For each action set, reset all robots, then run actions and see if arm moves in expected way
                for action_name, action in actions.items():
                    # Reset the environment and keep all robots still
                    env.reset()
                    for i, robot in enumerate(env.robots):
                        robot.keep_still()
    
                    # Take N steps with given action and check for error
                    for _ in range(n_steps[controller_mode][action_name]):
                        env.step(action)
    
                    for i, robot in enumerate(env.robots):
                        for arm in robot.arm_names:
                            # Make sure no arm joints are at their limit
                            normalized_qpos = robot.get_joint_positions(normalized=True)[robot.arm_control_idx[arm]]
                            assert not th.any(th.abs(normalized_qpos) == 1.0), (
                                f"controller [{controller}], mode [{controller_mode}], robot [{robot.model_name}], arm [{arm}], action [{action_name}]:\n"
                                f"Some joints are at their limit (normalized values): {normalized_qpos}"
                            )
    
                            init_pos, init_quat = initial_eef_pose[robot.name][arm]
                            curr_pos, curr_quat = robot.get_relative_eef_pose(arm=arm)
                            arm_controller = robot.controllers[f"arm_{arm}"]
                            arm_goal = arm_controller.goal
                            target_pos = arm_goal["target_pos"]
                            target_quat = (
                                arm_goal["target_quat"]
                                if controller == "InverseKinematicsController"
                                else T.mat2quat(arm_goal["target_ori_mat"])
                            )
                            pos_check = err_checks[controller_mode][action_name]["pos"]
                            if pos_check is not None:
                                is_valid_pos = pos_check(target_pos, curr_pos, init_pos)
>                               assert is_valid_pos, (
                                    f"Got mismatch for controller [{controller}], mode [{controller_mode}], robot [{robot.model_name}], action [{action_name}]\n"
                                    f"target_pos: {target_pos}, curr_pos: {curr_pos}, init_pos: {init_pos}"
                                )
E                               AssertionError: Got mismatch for controller [OperationalSpaceController], mode [pose_delta_ori], robot [R1], action [base_move]
E                                 target_pos: tensor([0.4690, 0.4162, 1.3529]), curr_pos: tensor([0.4689, 0.4162, 1.3529]), init_pos: tensor([0.4877, 0.4158, 1.3434])
E                               assert False

tests/test_controllers.py:296: AssertionError

Check failure on line 0 in 11113791236-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:
  11113791236-tests-test_primitives/test_primitives.xml
Error:
  self = <test_primitives.TestPrimitives object at 0x7ff1d07bed40>
Raw output 
self = <test_primitives.TestPrimitives object at 0x7ff1d07bed40>
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"],)]
    
>       assert primitive_tester(env, objects, primitives, primitives_args)
E       AssertionError: assert False
E        +  where False = primitive_tester(<omnigibson.envs.env_base.Environment object at 0x7ff1d9df0070>, [{'object': <omnigibson.objects.dataset_object.DatasetObject object at 0x7ff1d9139b10>, 'orientation': [0, 0, 0, 1], '...ts.dataset_object.DatasetObject object at 0x7ff1d9511000>, 'orientation': [0, 0, 0, 1], 'position': [-0.3, -0.8, 0.5]}], [<StarterSemanticActionPrimitiveSet.GRASP: 1>, <StarterSemanticActionPrimitiveSet.PLACE_ON_TOP: 2>], [(<omnigibson.objects.dataset_object.DatasetObject object at 0x7ff1d9511000>,), (<omnigibson.objects.dataset_object.DatasetObject object at 0x7ff1d9139b10>,)])

tests/test_primitives.py:141: AssertionError
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