Add support for reading cloth particle positions under Fabric #3104
GitHub Actions / Test Results
succeeded
Dec 21, 2024 in 0s
138 passed, 15 failed and 9 skipped
✅ 12440976406-tests-test_controllers/test_controllers.xml
1 tests were completed in 930s with 1 passed, 0 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1✅ | 930s |
✅ pytest
tests.test_controllers
✅ test_arm_control
✅ 12440976406-tests-test_curobo/test_curobo.xml
1 tests were completed in 1157s with 1 passed, 0 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1✅ | 1157s |
✅ pytest
tests.test_curobo
✅ test_curobo
✅ 12440976406-tests-test_data_collection/test_data_collection.xml
1 tests were completed in 1866s with 1 passed, 0 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1✅ | 1866s |
✅ pytest
tests.test_data_collection
✅ test_data_collect_and_playback
✅ 12440976406-tests-test_dump_load_states/test_dump_load_states.xml
4 tests were completed in 1910s with 4 passed, 0 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 4✅ | 1910s |
✅ pytest
tests.test_dump_load_states
✅ test_dump_load
✅ test_dump_load_serialized
✅ test_save_restore_partial
✅ test_save_restore_full
✅ 12440976406-tests-test_envs/test_envs.xml
5 tests were completed in 2109s with 5 passed, 0 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 5✅ | 2109s |
✅ pytest
tests.test_envs
✅ test_dummy_task
✅ test_point_reaching_task
✅ test_point_navigation_task
✅ test_behavior_task
✅ test_rs_int_full_load
✅ 12440976406-tests-test_multiple_envs/test_multiple_envs.xml
10 tests were completed in 614s with 8 passed, 0 failed and 2 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 8✅ | 2⚪ | 614s |
✅ 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
✅ 12440976406-tests-test_object_removal/test_object_removal.xml
2 tests were completed in 1960s with 2 passed, 0 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 2✅ | 1960s |
✅ pytest
tests.test_object_removal
✅ test_removal_and_readdition
✅ test_readdition
❌ 12440976406-tests-test_object_states/test_object_states.xml
33 tests were completed in 2293s with 27 passed, 6 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 27✅ | 6❌ | 2293s |
❌ pytest
tests.test_object_states
❌ test_on_top
def wrapper():
❌ test_inside
def wrapper():
❌ test_under
def wrapper():
✅ test_touching
✅ test_contact_bodies
❌ test_next_to
def wrapper():
✅ test_overlaid
✅ test_pose
✅ test_joint
✅ test_aabb
❌ test_adjacency
def wrapper():
❌ test_temperature
def wrapper():
✅ 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
❌ 12440976406-tests-test_primitives/test_primitives.xml
10 tests were completed in 581s with 0 passed, 6 failed and 4 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 6❌ | 4⚪ | 581s |
❌ pytest
tests.test_primitives.TestPrimitives
❌ test_navigate[Tiago]
self = <test_primitives.TestPrimitives object at 0x7f2edd142230>
❌ test_navigate[Fetch]
self = <test_primitives.TestPrimitives object at 0x7f2edd140910>
❌ test_grasp[Tiago]
self = <test_primitives.TestPrimitives object at 0x7f2edd140190>
❌ test_grasp[Fetch]
self = <test_primitives.TestPrimitives object at 0x7f2edd141000>
❌ test_place[Tiago]
self = <test_primitives.TestPrimitives object at 0x7f2edd1414b0>
❌ test_place[Fetch]
self = <test_primitives.TestPrimitives object at 0x7f2edd140790>
⚪ test_open_prismatic[Tiago]
⚪ test_open_prismatic[Fetch]
⚪ test_open_revolute[Tiago]
⚪ test_open_revolute[Fetch]
✅ 12440976406-tests-test_robot_states_flatcache/test_robot_states_flatcache.xml
3 tests were completed in 1513s with 3 passed, 0 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 3✅ | 1513s |
✅ pytest
tests.test_robot_states_flatcache
✅ test_camera_pose_flatcache_on
✅ test_robot_load_drive
✅ test_grasping_mode
✅ 12440976406-tests-test_robot_states_no_flatcache/test_robot_states_no_flatcache.xml
3 tests were completed in 616s with 3 passed, 0 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 3✅ | 616s |
✅ pytest
tests.test_robot_states_no_flatcache
✅ test_camera_pose_flatcache_off
✅ test_camera_semantic_segmentation
✅ test_object_in_FOV_of_robot
✅ 12440976406-tests-test_robot_teleoperation/test_robot_teleoperation.xml
1 tests were completed in 27ms with 0 passed, 0 failed and 1 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1⚪ | 27ms |
✅ pytest
tests.test_robot_teleoperation
⚪ test_teleop
✅ 12440976406-tests-test_scene_graph/test_scene_graph.xml
1 tests were completed in 607s with 1 passed, 0 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1✅ | 607s |
✅ pytest
tests.test_scene_graph
✅ test_scene_graph
✅ 12440976406-tests-test_sensors/test_sensors.xml
2 tests were completed in 1952s with 2 passed, 0 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 2✅ | 1952s |
✅ pytest
tests.test_sensors
✅ test_segmentation_modalities
✅ test_bbox_modalities
✅ 12440976406-tests-test_symbolic_primitives/test_symbolic_primitives.xml
20 tests were completed in 2104s with 18 passed, 0 failed and 2 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 18✅ | 2⚪ | 2104s |
✅ 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]
✅ 12440976406-tests-test_systems/test_systems.xml
1 tests were completed in 1788s with 1 passed, 0 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1✅ | 1788s |
✅ pytest
tests.test_systems
✅ test_system_clear
✅ 12440976406-tests-test_transform_utils/test_transform_utils.xml
34 tests were completed in 147s with 34 passed, 0 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 34✅ | 147s |
✅ 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
❌ 12440976406-tests-test_transition_rules/test_transition_rules.xml
30 tests were completed in 1676s with 27 passed, 3 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 27✅ | 3❌ | 1676s |
❌ 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
def wrapper():
✅ 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
def wrapper():
❌ test_single_toggleable_machine_rule_output_object_success
def wrapper():
Annotations
Check failure on line 0 in 12440976406-tests-test_object_states/test_object_states.xml
github-actions / Test Results
pytest ► tests.test_object_states ► test_on_top
Failed test found in:
12440976406-tests-test_object_states/test_object_states.xml
Error:
def wrapper():
Raw output
def wrapper():
assert_test_env()
try:
> func(env)
tests/utils.py:28:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
tests/test_object_states.py:28: in test_on_top
assert obj.states[OnTop].get_value(breakfast_table)
omnigibson/object_states/object_state_base.py:325: in get_value
self.update_cache(get_value_args=key)
omnigibson/object_states/object_state_base.py:195: in update_cache
val = self._get_value(*get_value_args)
omnigibson/object_states/on_top.py:48: in _get_value
adjacency = self.obj.states[VerticalAdjacency].get_value()
omnigibson/object_states/object_state_base.py:325: in get_value
self.update_cache(get_value_args=key)
omnigibson/object_states/object_state_base.py:195: in update_cache
val = self._get_value(*get_value_args)
omnigibson/object_states/adjacency.py:169: in _get_value
bodies_by_axis = compute_adjacencies(
omnigibson/object_states/adjacency.py:91: in compute_adjacencies
ray_starts = th.tile(obj.root_link.centroid_particle_position, (len(directions), 1))
omnigibson/prims/cloth_prim.py:372: in centroid_particle_position
return self.compute_particle_positions(idxs=[self._centroid_idx])
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
self = <omnigibson.prims.cloth_prim.ClothPrim object at 0x7f142b5dffa0>
idxs = [tensor(1207)]
def compute_particle_positions(self, idxs=None):
"""
Compute individual particle positions for this cloth prim
Args:
idxs (n-array or None): If set, will only calculate the requested indexed particle state
Returns:
th.tensor: (N, 3) numpy array, where each of the N particles' positions are expressed in (x,y,z)
cartesian coordinates relative to the world frame
"""
world_pose_w_scale = PoseAPI.get_world_pose_with_scale(self.prim_path)
if gm.ENABLE_FLATCACHE:
# Get all the cloth prims in the Fabric stage
stage = lazy.omni.isaac.core.utils.stage.get_current_stage(fabric=True)
selection = stage.SelectPrims(
require_attrs=[
(
lazy.usdrt.Sdf.ValueTypeNames.Point3fArray,
lazy.usdrt.UsdGeom.Tokens.points,
lazy.usdrt.Usd.Access.Read,
)
],
require_prim_type="Mesh",
require_applied_schemas=["PhysxParticleClothAPI"],
device="cpu",
)
# Find the index of some particular prim
paths = stage.GetPrimsWithTypeAndAppliedAPIName("Mesh", ["PhysxParticleClothAPI"])
assert selection.GetCount() == len(paths), "Mismatch in number of cloth prims found!"
this_prim_idx_in_selection = None
for i, meshPath in enumerate(paths):
if str(meshPath) == self.prim_path:
this_prim_idx_in_selection = i
break
assert this_prim_idx_in_selection is not None, f"Could not find cloth prim at path {self.prim_path}!"
# TODO: Reconsider this version that avoids warp altogether and directly goes from the Fabric array interface to numpy.
# # Get the fabric array interface (hopefully still version 1) and convert it into a numpy array interface
# fai = selection.__fabric_arrays_interface__
# assert fai["version"] == 1, "Got unexpected fabric array interface version!"
# assert fai["device"] == "cpu", "Got unexpected fabric array interface device!"
# points_fai = fai["attribs"]["points"]
# cumulative_len = 0
# bucket_idx, idx_in_bucket = None, None
# for list_idx, length in enumerate(points_fai["counts"]):
# if this_prim_idx_in_selection < cumulative_len + length:
# bucket_idx = list_idx
# idx_in_bucket = this_prim_idx_in_selection - cumulative_len
# break
# cumulative_len += length
# else:
# # This line should never be reached due to the earlier bounds check
# raise RuntimeError("Unexpected error in index calculation")
#
# # Inside that bucket, what is the sum of all the previous array lengths
# bucket_array_lengths_ptr = ctypes.cast(points_fai["array_lengths"][bucket_idx], ctypes.POINTER(ctypes.c_int64)) # Is this really int64?
# bucket_array_lengths = np.ctypeslib.as_array(bucket_array_lengths_ptr, shape=(points_fai["counts"][bucket_idx],))
# assert bucket_array_lengths[idx_in_bucket] == self._n_particles, "Got unexpected number of positions in this bucket!"
# start_in_bucket = np.sum(bucket_array_lengths[:idx_in_bucket])
# end_in_bucket = start_in_bucket + self._n_particles
# bucket_start_ptr = ctypes.cast(points_fai["pointers"][bucket_idx], ctypes.POINTER(ctypes.c_float))
# whole_bucket_array = np.ctypeslib.as_array(bucket_start_ptr, shape=(sum(bucket_array_lengths), 3))
# points_array = whole_bucket_array[start_in_bucket:end_in_bucket]
# p_local = th.as_tensor(points_array)
# # Launch the kernel on the indexed selection
# # TODO: Consider parallelizing on GPU
wp = lazy.warp
idxes = wp.array([this_prim_idx_in_selection], dtype=wp.int32, device="cpu")
fabric_points = wp.fabricarray(selection.__fabric_arrays_interface__, "points")[idxes]
copied_points = wp.zeros(self.n_particles, dtype=wp.vec3f, device="cpu")
wp.launch(
get_get_particle_positions_kernel(),
dim=1,
inputs=[fabric_points, copied_points, self._n_particles],
device="cpu",
)
p_local = wp.to_torch(copied_points)
else:
p_local = vtarray_to_torch(self.get_attribute(attr="points"))
# TODO: Consider passing the particle indices directly to the kernel
p_local = p_local[idxs] if idxs is not None else p_local
> p_local_homogeneous = th.cat((p_local, th.ones((p_local.shape[0], 1))), dim=1)
E IndexError: Dimension out of range (expected to be in range of [-1, 0], but got 1)
omnigibson/prims/cloth_prim.py:281: IndexError
Check failure on line 0 in 12440976406-tests-test_object_states/test_object_states.xml
github-actions / Test Results
pytest ► tests.test_object_states ► test_inside
Failed test found in:
12440976406-tests-test_object_states/test_object_states.xml
Error:
def wrapper():
Raw output
def wrapper():
assert_test_env()
try:
> func(env)
tests/utils.py:28:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
tests/test_object_states.py:56: in test_inside
assert dishtowel.states[Inside].get_value(bottom_cabinet)
omnigibson/object_states/object_state_base.py:325: in get_value
self.update_cache(get_value_args=key)
omnigibson/object_states/object_state_base.py:195: in update_cache
val = self._get_value(*get_value_args)
omnigibson/object_states/inside.py:63: in _get_value
vertical_adjacency = self.obj.states[VerticalAdjacency].get_value()
omnigibson/object_states/object_state_base.py:325: in get_value
self.update_cache(get_value_args=key)
omnigibson/object_states/object_state_base.py:195: in update_cache
val = self._get_value(*get_value_args)
omnigibson/object_states/adjacency.py:169: in _get_value
bodies_by_axis = compute_adjacencies(
omnigibson/object_states/adjacency.py:91: in compute_adjacencies
ray_starts = th.tile(obj.root_link.centroid_particle_position, (len(directions), 1))
omnigibson/prims/cloth_prim.py:372: in centroid_particle_position
return self.compute_particle_positions(idxs=[self._centroid_idx])
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
self = <omnigibson.prims.cloth_prim.ClothPrim object at 0x7f142b5dffa0>
idxs = [tensor(1207)]
def compute_particle_positions(self, idxs=None):
"""
Compute individual particle positions for this cloth prim
Args:
idxs (n-array or None): If set, will only calculate the requested indexed particle state
Returns:
th.tensor: (N, 3) numpy array, where each of the N particles' positions are expressed in (x,y,z)
cartesian coordinates relative to the world frame
"""
world_pose_w_scale = PoseAPI.get_world_pose_with_scale(self.prim_path)
if gm.ENABLE_FLATCACHE:
# Get all the cloth prims in the Fabric stage
stage = lazy.omni.isaac.core.utils.stage.get_current_stage(fabric=True)
selection = stage.SelectPrims(
require_attrs=[
(
lazy.usdrt.Sdf.ValueTypeNames.Point3fArray,
lazy.usdrt.UsdGeom.Tokens.points,
lazy.usdrt.Usd.Access.Read,
)
],
require_prim_type="Mesh",
require_applied_schemas=["PhysxParticleClothAPI"],
device="cpu",
)
# Find the index of some particular prim
paths = stage.GetPrimsWithTypeAndAppliedAPIName("Mesh", ["PhysxParticleClothAPI"])
assert selection.GetCount() == len(paths), "Mismatch in number of cloth prims found!"
this_prim_idx_in_selection = None
for i, meshPath in enumerate(paths):
if str(meshPath) == self.prim_path:
this_prim_idx_in_selection = i
break
assert this_prim_idx_in_selection is not None, f"Could not find cloth prim at path {self.prim_path}!"
# TODO: Reconsider this version that avoids warp altogether and directly goes from the Fabric array interface to numpy.
# # Get the fabric array interface (hopefully still version 1) and convert it into a numpy array interface
# fai = selection.__fabric_arrays_interface__
# assert fai["version"] == 1, "Got unexpected fabric array interface version!"
# assert fai["device"] == "cpu", "Got unexpected fabric array interface device!"
# points_fai = fai["attribs"]["points"]
# cumulative_len = 0
# bucket_idx, idx_in_bucket = None, None
# for list_idx, length in enumerate(points_fai["counts"]):
# if this_prim_idx_in_selection < cumulative_len + length:
# bucket_idx = list_idx
# idx_in_bucket = this_prim_idx_in_selection - cumulative_len
# break
# cumulative_len += length
# else:
# # This line should never be reached due to the earlier bounds check
# raise RuntimeError("Unexpected error in index calculation")
#
# # Inside that bucket, what is the sum of all the previous array lengths
# bucket_array_lengths_ptr = ctypes.cast(points_fai["array_lengths"][bucket_idx], ctypes.POINTER(ctypes.c_int64)) # Is this really int64?
# bucket_array_lengths = np.ctypeslib.as_array(bucket_array_lengths_ptr, shape=(points_fai["counts"][bucket_idx],))
# assert bucket_array_lengths[idx_in_bucket] == self._n_particles, "Got unexpected number of positions in this bucket!"
# start_in_bucket = np.sum(bucket_array_lengths[:idx_in_bucket])
# end_in_bucket = start_in_bucket + self._n_particles
# bucket_start_ptr = ctypes.cast(points_fai["pointers"][bucket_idx], ctypes.POINTER(ctypes.c_float))
# whole_bucket_array = np.ctypeslib.as_array(bucket_start_ptr, shape=(sum(bucket_array_lengths), 3))
# points_array = whole_bucket_array[start_in_bucket:end_in_bucket]
# p_local = th.as_tensor(points_array)
# # Launch the kernel on the indexed selection
# # TODO: Consider parallelizing on GPU
wp = lazy.warp
idxes = wp.array([this_prim_idx_in_selection], dtype=wp.int32, device="cpu")
fabric_points = wp.fabricarray(selection.__fabric_arrays_interface__, "points")[idxes]
copied_points = wp.zeros(self.n_particles, dtype=wp.vec3f, device="cpu")
wp.launch(
get_get_particle_positions_kernel(),
dim=1,
inputs=[fabric_points, copied_points, self._n_particles],
device="cpu",
)
p_local = wp.to_torch(copied_points)
else:
p_local = vtarray_to_torch(self.get_attribute(attr="points"))
# TODO: Consider passing the particle indices directly to the kernel
p_local = p_local[idxs] if idxs is not None else p_local
> p_local_homogeneous = th.cat((p_local, th.ones((p_local.shape[0], 1))), dim=1)
E IndexError: Dimension out of range (expected to be in range of [-1, 0], but got 1)
omnigibson/prims/cloth_prim.py:281: IndexError
Check failure on line 0 in 12440976406-tests-test_object_states/test_object_states.xml
github-actions / Test Results
pytest ► tests.test_object_states ► test_under
Failed test found in:
12440976406-tests-test_object_states/test_object_states.xml
Error:
def wrapper():
Raw output
def wrapper():
assert_test_env()
try:
> func(env)
tests/utils.py:28:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
tests/test_object_states.py:86: in test_under
assert obj.states[Under].get_value(breakfast_table)
omnigibson/object_states/object_state_base.py:325: in get_value
self.update_cache(get_value_args=key)
omnigibson/object_states/object_state_base.py:195: in update_cache
val = self._get_value(*get_value_args)
omnigibson/object_states/under.py:42: in _get_value
adjacency = self.obj.states[VerticalAdjacency].get_value()
omnigibson/object_states/object_state_base.py:325: in get_value
self.update_cache(get_value_args=key)
omnigibson/object_states/object_state_base.py:195: in update_cache
val = self._get_value(*get_value_args)
omnigibson/object_states/adjacency.py:169: in _get_value
bodies_by_axis = compute_adjacencies(
omnigibson/object_states/adjacency.py:91: in compute_adjacencies
ray_starts = th.tile(obj.root_link.centroid_particle_position, (len(directions), 1))
omnigibson/prims/cloth_prim.py:372: in centroid_particle_position
return self.compute_particle_positions(idxs=[self._centroid_idx])
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
self = <omnigibson.prims.cloth_prim.ClothPrim object at 0x7f142b5dffa0>
idxs = [tensor(1207)]
def compute_particle_positions(self, idxs=None):
"""
Compute individual particle positions for this cloth prim
Args:
idxs (n-array or None): If set, will only calculate the requested indexed particle state
Returns:
th.tensor: (N, 3) numpy array, where each of the N particles' positions are expressed in (x,y,z)
cartesian coordinates relative to the world frame
"""
world_pose_w_scale = PoseAPI.get_world_pose_with_scale(self.prim_path)
if gm.ENABLE_FLATCACHE:
# Get all the cloth prims in the Fabric stage
stage = lazy.omni.isaac.core.utils.stage.get_current_stage(fabric=True)
selection = stage.SelectPrims(
require_attrs=[
(
lazy.usdrt.Sdf.ValueTypeNames.Point3fArray,
lazy.usdrt.UsdGeom.Tokens.points,
lazy.usdrt.Usd.Access.Read,
)
],
require_prim_type="Mesh",
require_applied_schemas=["PhysxParticleClothAPI"],
device="cpu",
)
# Find the index of some particular prim
paths = stage.GetPrimsWithTypeAndAppliedAPIName("Mesh", ["PhysxParticleClothAPI"])
assert selection.GetCount() == len(paths), "Mismatch in number of cloth prims found!"
this_prim_idx_in_selection = None
for i, meshPath in enumerate(paths):
if str(meshPath) == self.prim_path:
this_prim_idx_in_selection = i
break
assert this_prim_idx_in_selection is not None, f"Could not find cloth prim at path {self.prim_path}!"
# TODO: Reconsider this version that avoids warp altogether and directly goes from the Fabric array interface to numpy.
# # Get the fabric array interface (hopefully still version 1) and convert it into a numpy array interface
# fai = selection.__fabric_arrays_interface__
# assert fai["version"] == 1, "Got unexpected fabric array interface version!"
# assert fai["device"] == "cpu", "Got unexpected fabric array interface device!"
# points_fai = fai["attribs"]["points"]
# cumulative_len = 0
# bucket_idx, idx_in_bucket = None, None
# for list_idx, length in enumerate(points_fai["counts"]):
# if this_prim_idx_in_selection < cumulative_len + length:
# bucket_idx = list_idx
# idx_in_bucket = this_prim_idx_in_selection - cumulative_len
# break
# cumulative_len += length
# else:
# # This line should never be reached due to the earlier bounds check
# raise RuntimeError("Unexpected error in index calculation")
#
# # Inside that bucket, what is the sum of all the previous array lengths
# bucket_array_lengths_ptr = ctypes.cast(points_fai["array_lengths"][bucket_idx], ctypes.POINTER(ctypes.c_int64)) # Is this really int64?
# bucket_array_lengths = np.ctypeslib.as_array(bucket_array_lengths_ptr, shape=(points_fai["counts"][bucket_idx],))
# assert bucket_array_lengths[idx_in_bucket] == self._n_particles, "Got unexpected number of positions in this bucket!"
# start_in_bucket = np.sum(bucket_array_lengths[:idx_in_bucket])
# end_in_bucket = start_in_bucket + self._n_particles
# bucket_start_ptr = ctypes.cast(points_fai["pointers"][bucket_idx], ctypes.POINTER(ctypes.c_float))
# whole_bucket_array = np.ctypeslib.as_array(bucket_start_ptr, shape=(sum(bucket_array_lengths), 3))
# points_array = whole_bucket_array[start_in_bucket:end_in_bucket]
# p_local = th.as_tensor(points_array)
# # Launch the kernel on the indexed selection
# # TODO: Consider parallelizing on GPU
wp = lazy.warp
idxes = wp.array([this_prim_idx_in_selection], dtype=wp.int32, device="cpu")
fabric_points = wp.fabricarray(selection.__fabric_arrays_interface__, "points")[idxes]
copied_points = wp.zeros(self.n_particles, dtype=wp.vec3f, device="cpu")
wp.launch(
get_get_particle_positions_kernel(),
dim=1,
inputs=[fabric_points, copied_points, self._n_particles],
device="cpu",
)
p_local = wp.to_torch(copied_points)
else:
p_local = vtarray_to_torch(self.get_attribute(attr="points"))
# TODO: Consider passing the particle indices directly to the kernel
p_local = p_local[idxs] if idxs is not None else p_local
> p_local_homogeneous = th.cat((p_local, th.ones((p_local.shape[0], 1))), dim=1)
E IndexError: Dimension out of range (expected to be in range of [-1, 0], but got 1)
omnigibson/prims/cloth_prim.py:281: IndexError
Check failure on line 0 in 12440976406-tests-test_object_states/test_object_states.xml
github-actions / Test Results
pytest ► tests.test_object_states ► test_next_to
Failed test found in:
12440976406-tests-test_object_states/test_object_states.xml
Error:
def wrapper():
Raw output
def wrapper():
assert_test_env()
try:
> func(env)
tests/utils.py:28:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
tests/test_object_states.py:164: in test_next_to
assert obj.states[NextTo].get_value(bottom_cabinet)
omnigibson/object_states/object_state_base.py:325: in get_value
self.update_cache(get_value_args=key)
omnigibson/object_states/object_state_base.py:195: in update_cache
val = self._get_value(*get_value_args)
omnigibson/object_states/next_to.py:44: in _get_value
adjacency_this = self.obj.states[HorizontalAdjacency].get_value()
omnigibson/object_states/object_state_base.py:325: in get_value
self.update_cache(get_value_args=key)
omnigibson/object_states/object_state_base.py:195: in update_cache
val = self._get_value(*get_value_args)
omnigibson/object_states/adjacency.py:209: in _get_value
bodies_by_axis = compute_adjacencies(
omnigibson/object_states/adjacency.py:91: in compute_adjacencies
ray_starts = th.tile(obj.root_link.centroid_particle_position, (len(directions), 1))
omnigibson/prims/cloth_prim.py:372: in centroid_particle_position
return self.compute_particle_positions(idxs=[self._centroid_idx])
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
self = <omnigibson.prims.cloth_prim.ClothPrim object at 0x7f142b5dffa0>
idxs = [tensor(1207)]
def compute_particle_positions(self, idxs=None):
"""
Compute individual particle positions for this cloth prim
Args:
idxs (n-array or None): If set, will only calculate the requested indexed particle state
Returns:
th.tensor: (N, 3) numpy array, where each of the N particles' positions are expressed in (x,y,z)
cartesian coordinates relative to the world frame
"""
world_pose_w_scale = PoseAPI.get_world_pose_with_scale(self.prim_path)
if gm.ENABLE_FLATCACHE:
# Get all the cloth prims in the Fabric stage
stage = lazy.omni.isaac.core.utils.stage.get_current_stage(fabric=True)
selection = stage.SelectPrims(
require_attrs=[
(
lazy.usdrt.Sdf.ValueTypeNames.Point3fArray,
lazy.usdrt.UsdGeom.Tokens.points,
lazy.usdrt.Usd.Access.Read,
)
],
require_prim_type="Mesh",
require_applied_schemas=["PhysxParticleClothAPI"],
device="cpu",
)
# Find the index of some particular prim
paths = stage.GetPrimsWithTypeAndAppliedAPIName("Mesh", ["PhysxParticleClothAPI"])
assert selection.GetCount() == len(paths), "Mismatch in number of cloth prims found!"
this_prim_idx_in_selection = None
for i, meshPath in enumerate(paths):
if str(meshPath) == self.prim_path:
this_prim_idx_in_selection = i
break
assert this_prim_idx_in_selection is not None, f"Could not find cloth prim at path {self.prim_path}!"
# TODO: Reconsider this version that avoids warp altogether and directly goes from the Fabric array interface to numpy.
# # Get the fabric array interface (hopefully still version 1) and convert it into a numpy array interface
# fai = selection.__fabric_arrays_interface__
# assert fai["version"] == 1, "Got unexpected fabric array interface version!"
# assert fai["device"] == "cpu", "Got unexpected fabric array interface device!"
# points_fai = fai["attribs"]["points"]
# cumulative_len = 0
# bucket_idx, idx_in_bucket = None, None
# for list_idx, length in enumerate(points_fai["counts"]):
# if this_prim_idx_in_selection < cumulative_len + length:
# bucket_idx = list_idx
# idx_in_bucket = this_prim_idx_in_selection - cumulative_len
# break
# cumulative_len += length
# else:
# # This line should never be reached due to the earlier bounds check
# raise RuntimeError("Unexpected error in index calculation")
#
# # Inside that bucket, what is the sum of all the previous array lengths
# bucket_array_lengths_ptr = ctypes.cast(points_fai["array_lengths"][bucket_idx], ctypes.POINTER(ctypes.c_int64)) # Is this really int64?
# bucket_array_lengths = np.ctypeslib.as_array(bucket_array_lengths_ptr, shape=(points_fai["counts"][bucket_idx],))
# assert bucket_array_lengths[idx_in_bucket] == self._n_particles, "Got unexpected number of positions in this bucket!"
# start_in_bucket = np.sum(bucket_array_lengths[:idx_in_bucket])
# end_in_bucket = start_in_bucket + self._n_particles
# bucket_start_ptr = ctypes.cast(points_fai["pointers"][bucket_idx], ctypes.POINTER(ctypes.c_float))
# whole_bucket_array = np.ctypeslib.as_array(bucket_start_ptr, shape=(sum(bucket_array_lengths), 3))
# points_array = whole_bucket_array[start_in_bucket:end_in_bucket]
# p_local = th.as_tensor(points_array)
# # Launch the kernel on the indexed selection
# # TODO: Consider parallelizing on GPU
wp = lazy.warp
idxes = wp.array([this_prim_idx_in_selection], dtype=wp.int32, device="cpu")
fabric_points = wp.fabricarray(selection.__fabric_arrays_interface__, "points")[idxes]
copied_points = wp.zeros(self.n_particles, dtype=wp.vec3f, device="cpu")
wp.launch(
get_get_particle_positions_kernel(),
dim=1,
inputs=[fabric_points, copied_points, self._n_particles],
device="cpu",
)
p_local = wp.to_torch(copied_points)
else:
p_local = vtarray_to_torch(self.get_attribute(attr="points"))
# TODO: Consider passing the particle indices directly to the kernel
p_local = p_local[idxs] if idxs is not None else p_local
> p_local_homogeneous = th.cat((p_local, th.ones((p_local.shape[0], 1))), dim=1)
E IndexError: Dimension out of range (expected to be in range of [-1, 0], but got 1)
omnigibson/prims/cloth_prim.py:281: IndexError
Check failure on line 0 in 12440976406-tests-test_object_states/test_object_states.xml
github-actions / Test Results
pytest ► tests.test_object_states ► test_adjacency
Failed test found in:
12440976406-tests-test_object_states/test_object_states.xml
Error:
def wrapper():
Raw output
def wrapper():
assert_test_env()
try:
> func(env)
tests/utils.py:28:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
tests/test_object_states.py:289: in test_adjacency
for coordinate in obj.states[HorizontalAdjacency].get_value()
omnigibson/object_states/object_state_base.py:325: in get_value
self.update_cache(get_value_args=key)
omnigibson/object_states/object_state_base.py:195: in update_cache
val = self._get_value(*get_value_args)
omnigibson/object_states/adjacency.py:209: in _get_value
bodies_by_axis = compute_adjacencies(
omnigibson/object_states/adjacency.py:91: in compute_adjacencies
ray_starts = th.tile(obj.root_link.centroid_particle_position, (len(directions), 1))
omnigibson/prims/cloth_prim.py:372: in centroid_particle_position
return self.compute_particle_positions(idxs=[self._centroid_idx])
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
self = <omnigibson.prims.cloth_prim.ClothPrim object at 0x7f142b5dffa0>
idxs = [tensor(1207)]
def compute_particle_positions(self, idxs=None):
"""
Compute individual particle positions for this cloth prim
Args:
idxs (n-array or None): If set, will only calculate the requested indexed particle state
Returns:
th.tensor: (N, 3) numpy array, where each of the N particles' positions are expressed in (x,y,z)
cartesian coordinates relative to the world frame
"""
world_pose_w_scale = PoseAPI.get_world_pose_with_scale(self.prim_path)
if gm.ENABLE_FLATCACHE:
# Get all the cloth prims in the Fabric stage
stage = lazy.omni.isaac.core.utils.stage.get_current_stage(fabric=True)
selection = stage.SelectPrims(
require_attrs=[
(
lazy.usdrt.Sdf.ValueTypeNames.Point3fArray,
lazy.usdrt.UsdGeom.Tokens.points,
lazy.usdrt.Usd.Access.Read,
)
],
require_prim_type="Mesh",
require_applied_schemas=["PhysxParticleClothAPI"],
device="cpu",
)
# Find the index of some particular prim
paths = stage.GetPrimsWithTypeAndAppliedAPIName("Mesh", ["PhysxParticleClothAPI"])
assert selection.GetCount() == len(paths), "Mismatch in number of cloth prims found!"
this_prim_idx_in_selection = None
for i, meshPath in enumerate(paths):
if str(meshPath) == self.prim_path:
this_prim_idx_in_selection = i
break
assert this_prim_idx_in_selection is not None, f"Could not find cloth prim at path {self.prim_path}!"
# TODO: Reconsider this version that avoids warp altogether and directly goes from the Fabric array interface to numpy.
# # Get the fabric array interface (hopefully still version 1) and convert it into a numpy array interface
# fai = selection.__fabric_arrays_interface__
# assert fai["version"] == 1, "Got unexpected fabric array interface version!"
# assert fai["device"] == "cpu", "Got unexpected fabric array interface device!"
# points_fai = fai["attribs"]["points"]
# cumulative_len = 0
# bucket_idx, idx_in_bucket = None, None
# for list_idx, length in enumerate(points_fai["counts"]):
# if this_prim_idx_in_selection < cumulative_len + length:
# bucket_idx = list_idx
# idx_in_bucket = this_prim_idx_in_selection - cumulative_len
# break
# cumulative_len += length
# else:
# # This line should never be reached due to the earlier bounds check
# raise RuntimeError("Unexpected error in index calculation")
#
# # Inside that bucket, what is the sum of all the previous array lengths
# bucket_array_lengths_ptr = ctypes.cast(points_fai["array_lengths"][bucket_idx], ctypes.POINTER(ctypes.c_int64)) # Is this really int64?
# bucket_array_lengths = np.ctypeslib.as_array(bucket_array_lengths_ptr, shape=(points_fai["counts"][bucket_idx],))
# assert bucket_array_lengths[idx_in_bucket] == self._n_particles, "Got unexpected number of positions in this bucket!"
# start_in_bucket = np.sum(bucket_array_lengths[:idx_in_bucket])
# end_in_bucket = start_in_bucket + self._n_particles
# bucket_start_ptr = ctypes.cast(points_fai["pointers"][bucket_idx], ctypes.POINTER(ctypes.c_float))
# whole_bucket_array = np.ctypeslib.as_array(bucket_start_ptr, shape=(sum(bucket_array_lengths), 3))
# points_array = whole_bucket_array[start_in_bucket:end_in_bucket]
# p_local = th.as_tensor(points_array)
# # Launch the kernel on the indexed selection
# # TODO: Consider parallelizing on GPU
wp = lazy.warp
idxes = wp.array([this_prim_idx_in_selection], dtype=wp.int32, device="cpu")
fabric_points = wp.fabricarray(selection.__fabric_arrays_interface__, "points")[idxes]
copied_points = wp.zeros(self.n_particles, dtype=wp.vec3f, device="cpu")
wp.launch(
get_get_particle_positions_kernel(),
dim=1,
inputs=[fabric_points, copied_points, self._n_particles],
device="cpu",
)
p_local = wp.to_torch(copied_points)
else:
p_local = vtarray_to_torch(self.get_attribute(attr="points"))
# TODO: Consider passing the particle indices directly to the kernel
p_local = p_local[idxs] if idxs is not None else p_local
> p_local_homogeneous = th.cat((p_local, th.ones((p_local.shape[0], 1))), dim=1)
E IndexError: Dimension out of range (expected to be in range of [-1, 0], but got 1)
omnigibson/prims/cloth_prim.py:281: IndexError
Check failure on line 0 in 12440976406-tests-test_object_states/test_object_states.xml
github-actions / Test Results
pytest ► tests.test_object_states ► test_temperature
Failed test found in:
12440976406-tests-test_object_states/test_object_states.xml
Error:
def wrapper():
Raw output
def wrapper():
assert_test_env()
try:
> func(env)
tests/utils.py:28:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
tests/test_object_states.py:365: in test_temperature
og.sim.step()
omnigibson/simulator.py:1108: in step
self._non_physics_step()
omnigibson/simulator.py:981: in _non_physics_step
obj.states[state_type].update()
omnigibson/object_states/update_state_mixin.py:15: in update
return self._update()
omnigibson/object_states/heat_source_or_sink.py:251: in _update
if not obj.states[Inside].get_value(self.obj):
omnigibson/object_states/object_state_base.py:325: in get_value
self.update_cache(get_value_args=key)
omnigibson/object_states/object_state_base.py:195: in update_cache
val = self._get_value(*get_value_args)
omnigibson/object_states/inside.py:63: in _get_value
vertical_adjacency = self.obj.states[VerticalAdjacency].get_value()
omnigibson/object_states/object_state_base.py:325: in get_value
self.update_cache(get_value_args=key)
omnigibson/object_states/object_state_base.py:195: in update_cache
val = self._get_value(*get_value_args)
omnigibson/object_states/adjacency.py:169: in _get_value
bodies_by_axis = compute_adjacencies(
omnigibson/object_states/adjacency.py:91: in compute_adjacencies
ray_starts = th.tile(obj.root_link.centroid_particle_position, (len(directions), 1))
omnigibson/prims/cloth_prim.py:372: in centroid_particle_position
return self.compute_particle_positions(idxs=[self._centroid_idx])
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
self = <omnigibson.prims.cloth_prim.ClothPrim object at 0x7f14291533d0>
idxs = [tensor(1207)]
def compute_particle_positions(self, idxs=None):
"""
Compute individual particle positions for this cloth prim
Args:
idxs (n-array or None): If set, will only calculate the requested indexed particle state
Returns:
th.tensor: (N, 3) numpy array, where each of the N particles' positions are expressed in (x,y,z)
cartesian coordinates relative to the world frame
"""
world_pose_w_scale = PoseAPI.get_world_pose_with_scale(self.prim_path)
if gm.ENABLE_FLATCACHE:
# Get all the cloth prims in the Fabric stage
stage = lazy.omni.isaac.core.utils.stage.get_current_stage(fabric=True)
selection = stage.SelectPrims(
require_attrs=[
(
lazy.usdrt.Sdf.ValueTypeNames.Point3fArray,
lazy.usdrt.UsdGeom.Tokens.points,
lazy.usdrt.Usd.Access.Read,
)
],
require_prim_type="Mesh",
require_applied_schemas=["PhysxParticleClothAPI"],
device="cpu",
)
# Find the index of some particular prim
paths = stage.GetPrimsWithTypeAndAppliedAPIName("Mesh", ["PhysxParticleClothAPI"])
assert selection.GetCount() == len(paths), "Mismatch in number of cloth prims found!"
this_prim_idx_in_selection = None
for i, meshPath in enumerate(paths):
if str(meshPath) == self.prim_path:
this_prim_idx_in_selection = i
break
assert this_prim_idx_in_selection is not None, f"Could not find cloth prim at path {self.prim_path}!"
# TODO: Reconsider this version that avoids warp altogether and directly goes from the Fabric array interface to numpy.
# # Get the fabric array interface (hopefully still version 1) and convert it into a numpy array interface
# fai = selection.__fabric_arrays_interface__
# assert fai["version"] == 1, "Got unexpected fabric array interface version!"
# assert fai["device"] == "cpu", "Got unexpected fabric array interface device!"
# points_fai = fai["attribs"]["points"]
# cumulative_len = 0
# bucket_idx, idx_in_bucket = None, None
# for list_idx, length in enumerate(points_fai["counts"]):
# if this_prim_idx_in_selection < cumulative_len + length:
# bucket_idx = list_idx
# idx_in_bucket = this_prim_idx_in_selection - cumulative_len
# break
# cumulative_len += length
# else:
# # This line should never be reached due to the earlier bounds check
# raise RuntimeError("Unexpected error in index calculation")
#
# # Inside that bucket, what is the sum of all the previous array lengths
# bucket_array_lengths_ptr = ctypes.cast(points_fai["array_lengths"][bucket_idx], ctypes.POINTER(ctypes.c_int64)) # Is this really int64?
# bucket_array_lengths = np.ctypeslib.as_array(bucket_array_lengths_ptr, shape=(points_fai["counts"][bucket_idx],))
# assert bucket_array_lengths[idx_in_bucket] == self._n_particles, "Got unexpected number of positions in this bucket!"
# start_in_bucket = np.sum(bucket_array_lengths[:idx_in_bucket])
# end_in_bucket = start_in_bucket + self._n_particles
# bucket_start_ptr = ctypes.cast(points_fai["pointers"][bucket_idx], ctypes.POINTER(ctypes.c_float))
# whole_bucket_array = np.ctypeslib.as_array(bucket_start_ptr, shape=(sum(bucket_array_lengths), 3))
# points_array = whole_bucket_array[start_in_bucket:end_in_bucket]
# p_local = th.as_tensor(points_array)
# # Launch the kernel on the indexed selection
# # TODO: Consider parallelizing on GPU
wp = lazy.warp
idxes = wp.array([this_prim_idx_in_selection], dtype=wp.int32, device="cpu")
fabric_points = wp.fabricarray(selection.__fabric_arrays_interface__, "points")[idxes]
copied_points = wp.zeros(self.n_particles, dtype=wp.vec3f, device="cpu")
wp.launch(
get_get_particle_positions_kernel(),
dim=1,
inputs=[fabric_points, copied_points, self._n_particles],
device="cpu",
)
p_local = wp.to_torch(copied_points)
else:
p_local = vtarray_to_torch(self.get_attribute(attr="points"))
# TODO: Consider passing the particle indices directly to the kernel
p_local = p_local[idxs] if idxs is not None else p_local
> p_local_homogeneous = th.cat((p_local, th.ones((p_local.shape[0], 1))), dim=1)
E IndexError: Dimension out of range (expected to be in range of [-1, 0], but got 1)
omnigibson/prims/cloth_prim.py:281: IndexError
Check failure on line 0 in 12440976406-tests-test_primitives/test_primitives.xml
github-actions / Test Results
pytest ► tests.test_primitives.TestPrimitives ► test_navigate[Tiago]
Failed test found in:
12440976406-tests-test_primitives/test_primitives.xml
Error:
self = <test_primitives.TestPrimitives object at 0x7f2edd142230>
Raw output
self = <test_primitives.TestPrimitives object at 0x7f2edd142230>
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 0x7f2e9ad917e0>
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 12440976406-tests-test_primitives/test_primitives.xml
github-actions / Test Results
pytest ► tests.test_primitives.TestPrimitives ► test_navigate[Fetch]
Failed test found in:
12440976406-tests-test_primitives/test_primitives.xml
Error:
self = <test_primitives.TestPrimitives object at 0x7f2edd140910>
Raw output
self = <test_primitives.TestPrimitives object at 0x7f2edd140910>
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 0x7f2e9e395ba0>
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 12440976406-tests-test_primitives/test_primitives.xml
github-actions / Test Results
pytest ► tests.test_primitives.TestPrimitives ► test_grasp[Tiago]
Failed test found in:
12440976406-tests-test_primitives/test_primitives.xml
Error:
self = <test_primitives.TestPrimitives object at 0x7f2edd140190>
Raw output
self = <test_primitives.TestPrimitives object at 0x7f2edd140190>
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 0x7f2f9031b130>
@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 12440976406-tests-test_primitives/test_primitives.xml
github-actions / Test Results
pytest ► tests.test_primitives.TestPrimitives ► test_grasp[Fetch]
Failed test found in:
12440976406-tests-test_primitives/test_primitives.xml
Error:
self = <test_primitives.TestPrimitives object at 0x7f2edd141000>
Raw output
self = <test_primitives.TestPrimitives object at 0x7f2edd141000>
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 0x7f2e973aa5f0>
@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 12440976406-tests-test_primitives/test_primitives.xml
github-actions / Test Results
pytest ► tests.test_primitives.TestPrimitives ► test_place[Tiago]
Failed test found in:
12440976406-tests-test_primitives/test_primitives.xml
Error:
self = <test_primitives.TestPrimitives object at 0x7f2edd1414b0>
Raw output
self = <test_primitives.TestPrimitives object at 0x7f2edd1414b0>
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 0x7f2e925dc910>
@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
Loading