[WIP] Isaac 4.5 Upgrade #1094
Open
[WIP] Isaac 4.5 Upgrade #1094
GitHub Actions / Test Results
succeeded
Feb 11, 2025 in 1s
34 passed, 6 failed and 1 skipped
| Report | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| test_controllers.xml | 1❌ | 266s | ||
| test_curobo.xml | 1❌ | 292s | ||
| test_data_collection.xml | 1❌ | 268s | ||
| test_primitives.xml | 1❌ | 285s | ||
| test_robot_teleoperation.xml | 1⚪ | 30ms | ||
| test_scene_graph.xml | 1❌ | 288s | ||
| test_systems.xml | 1❌ | 289s | ||
| test_transform_utils.xml | 34✅ | 115s |
❌ test_controllers.xml
1 tests were completed in 266s with 0 passed, 1 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1❌ | 266s |
❌ pytest
tests.test_controllers
❌ test_arm_control
def test_arm_control():
❌ test_curobo.xml
1 tests were completed in 292s with 0 passed, 1 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1❌ | 292s |
❌ pytest
tests.test_curobo
❌ test_curobo
def test_curobo():
❌ test_data_collection.xml
1 tests were completed in 268s with 0 passed, 1 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1❌ | 268s |
❌ pytest
tests.test_data_collection
❌ test_data_collect_and_playback
def test_data_collect_and_playback():
❌ test_primitives.xml
1 tests were completed in 285s with 0 passed, 1 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1❌ | 285s |
❌ pytest
❌ tests.test_primitives
tests/test_primitives.py:18: in <module>
✅ 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
❌ test_scene_graph.xml
1 tests were completed in 288s with 0 passed, 1 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1❌ | 288s |
❌ pytest
tests.test_scene_graph
❌ test_scene_graph
def test_scene_graph():
❌ test_systems.xml
1 tests were completed in 289s with 0 passed, 1 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1❌ | 289s |
❌ pytest
tests.test_systems
❌ test_system_clear
def wrapper():
✅ test_transform_utils.xml
34 tests were completed in 115s with 34 passed, 0 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 34✅ | 115s |
✅ 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 test_controllers.xml
github-actions / Test Results
pytest ► tests.test_controllers ► test_arm_control
Failed test found in:
test_controllers.xml
Error:
def test_arm_control():
Raw output
def test_arm_control():
# Create env
cfg = {
"scene": {
"type": "Scene",
},
"objects": [],
"robots": [
{
"type": "FrankaPanda",
"name": "robot0",
"obs_modalities": [],
"position": [150, 150, 100],
"orientation": [0, 0, 0, 1],
"action_normalize": False,
},
{
"type": "Fetch",
"name": "robot1",
"obs_modalities": [],
"position": [150, 150, 105],
"orientation": [0, 0, 0, 1],
"action_normalize": False,
},
{
"type": "Tiago",
"name": "robot2",
"obs_modalities": [],
"position": [150, 150, 110],
"orientation": [0, 0, 0, 1],
"action_normalize": False,
},
{
"type": "A1",
"name": "robot3",
"obs_modalities": [],
"position": [150, 150, 115],
"orientation": [0, 0, 0, 1],
"action_normalize": False,
},
{
"type": "R1",
"name": "robot4",
"obs_modalities": [],
"position": [150, 150, 120],
"orientation": [0, 0, 0, 1],
"action_normalize": False,
},
],
}
> env = og.Environment(configs=cfg)
tests/test_controllers.py:61:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
omnigibson/utils/python_utils.py:91: in wrapper
func(*values.args, **values.kwargs)
omnigibson/envs/env_base.py:103: in __init__
og.launch(
omnigibson/simulator.py:251: in _launch_simulator
og.app = _launch_app()
omnigibson/simulator.py:150: in _launch_app
assert lazy.isaacsim.core.utils.stage.close_stage()
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
self = <module 'lazy_isaacsim' from '/isaac-sim/python_packages/isaacsim/__init__.py'>
name = 'core'
def __getattr__(self, name: str):
# First, try the argument as a module name.
if name not in self._not_module:
submodule = self._get_module(name)
if submodule:
return submodule
else:
# Record module not found so that we don't keep looking.
self._not_module.add(name)
# If it's not a module name, try it as a member of this module.
try:
return getattr(self._module, name)
except:
> raise AttributeError(f"module {self.__name__} has no attribute {name}") from None
E AttributeError: module lazy_isaacsim has no attribute core
omnigibson/utils/lazy_import_utils.py:29: AttributeError
Check failure on line 0 in test_curobo.xml
github-actions / Test Results
pytest ► tests.test_curobo ► test_curobo
Failed test found in:
test_curobo.xml
Error:
def test_curobo():
Raw output
def test_curobo():
# Make sure object states are enabled
assert gm.ENABLE_OBJECT_STATES
# Create env
cfg = {
"env": {
"action_frequency": 30,
"physics_frequency": 300,
},
"scene": {
"type": "Scene",
},
"objects": [
{
"type": "PrimitiveObject",
"name": "obj0",
"primitive_type": "Cube",
"scale": [0.4, 0.4, 0.4],
"fixed_base": True,
"position": [0.5, -0.1, 0.2],
"orientation": [0, 0, 0, 1],
},
{
"type": "PrimitiveObject",
"name": "eef_marker_0",
"primitive_type": "Sphere",
"radius": 0.05,
"visual_only": True,
"position": [0, 0, 0],
"orientation": [0, 0, 0, 1],
"rgba": [1, 0, 0, 1],
},
{
"type": "PrimitiveObject",
"name": "eef_marker_1",
"primitive_type": "Sphere",
"radius": 0.05,
"visual_only": True,
"position": [0, 0, 0],
"orientation": [0, 0, 0, 1],
"rgba": [0, 1, 0, 1],
},
],
"robots": [],
}
robot_cfgs = [
{
"type": "FrankaPanda",
"obs_modalities": "rgb",
"position": [0.7, -0.55, 0.0],
"orientation": [0, 0, 0.707, 0.707],
"self_collisions": True,
"action_normalize": False,
"controller_config": {
"arm_0": {
"name": "JointController",
"motor_type": "position",
"command_input_limits": None,
"use_delta_commands": False,
"use_impedances": False,
},
"gripper_0": {
"name": "JointController",
"motor_type": "position",
"command_input_limits": None,
"use_delta_commands": False,
"use_impedances": False,
},
},
},
{
"type": "R1",
"obs_modalities": "rgb",
"position": [0.7, -0.7, 0.056],
"orientation": [0, 0, 0.707, 0.707],
"self_collisions": True,
"action_normalize": False,
"controller_config": {
"base": {
"name": "HolonomicBaseJointController",
"motor_type": "position",
"command_input_limits": None,
"use_impedances": False,
},
"trunk": {
"name": "JointController",
"motor_type": "position",
"command_input_limits": None,
"use_delta_commands": False,
"use_impedances": False,
},
"arm_left": {
"name": "JointController",
"motor_type": "position",
"command_input_limits": None,
"use_delta_commands": False,
"use_impedances": False,
},
"arm_right": {
"name": "JointController",
"motor_type": "position",
"command_input_limits": None,
"use_delta_commands": False,
"use_impedances": False,
},
"gripper_left": {
"name": "JointController",
"motor_type": "position",
"command_input_limits": None,
"use_delta_commands": False,
"use_impedances": False,
},
"gripper_right": {
"name": "JointController",
"motor_type": "position",
"command_input_limits": None,
"use_delta_commands": False,
"use_impedances": False,
},
},
},
{
"type": "Tiago",
"obs_modalities": "rgb",
"position": [0.7, -0.85, 0],
"orientation": [0, 0, 0.707, 0.707],
"self_collisions": True,
"action_normalize": False,
"controller_config": {
"base": {
"name": "HolonomicBaseJointController",
"motor_type": "position",
"command_input_limits": None,
"use_impedances": False,
},
"trunk": {
"name": "JointController",
"motor_type": "position",
"command_input_limits": None,
"use_delta_commands": False,
"use_impedances": False,
},
"camera": {
"name": "JointController",
"motor_type": "position",
"command_input_limits": None,
"use_delta_commands": False,
"use_impedances": False,
},
"arm_left": {
"name": "JointController",
"motor_type": "position",
"command_input_limits": None,
"use_delta_commands": False,
"use_impedances": False,
},
"arm_right": {
"name": "JointController",
"motor_type": "position",
"command_input_limits": None,
"use_delta_commands": False,
"use_impedances": False,
},
"gripper_left": {
"name": "JointController",
"motor_type": "position",
"command_input_limits": None,
"use_delta_commands": False,
"use_impedances": False,
},
"gripper_right": {
"name": "JointController",
"motor_type": "position",
"command_input_limits": None,
"use_delta_commands": False,
"use_impedances": False,
},
},
},
]
for robot_cfg in robot_cfgs:
cfg["robots"] = [robot_cfg]
> env = og.Environment(configs=cfg)
tests/test_curobo.py:200:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
omnigibson/utils/python_utils.py:91: in wrapper
func(*values.args, **values.kwargs)
omnigibson/envs/env_base.py:103: in __init__
og.launch(
omnigibson/simulator.py:251: in _launch_simulator
og.app = _launch_app()
omnigibson/simulator.py:150: in _launch_app
assert lazy.isaacsim.core.utils.stage.close_stage()
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
self = <module 'lazy_isaacsim' from '/isaac-sim/python_packages/isaacsim/__init__.py'>
name = 'core'
def __getattr__(self, name: str):
# First, try the argument as a module name.
if name not in self._not_module:
submodule = self._get_module(name)
if submodule:
return submodule
else:
# Record module not found so that we don't keep looking.
self._not_module.add(name)
# If it's not a module name, try it as a member of this module.
try:
return getattr(self._module, name)
except:
> raise AttributeError(f"module {self.__name__} has no attribute {name}") from None
E AttributeError: module lazy_isaacsim has no attribute core
omnigibson/utils/lazy_import_utils.py:29: AttributeError
Check failure on line 0 in test_data_collection.xml
github-actions / Test Results
pytest ► tests.test_data_collection ► test_data_collect_and_playback
Failed test found in:
test_data_collection.xml
Error:
def test_data_collect_and_playback():
Raw output
def test_data_collect_and_playback():
cfg = {
"env": {
"external_sensors": [],
},
"scene": {
"type": "InteractiveTraversableScene",
"scene_model": "Rs_int",
"load_object_categories": ["floors", "breakfast_table"],
},
"robots": [
{
"type": "Fetch",
"obs_modalities": [],
}
],
# Task kwargs
"task": {
"type": "BehaviorTask",
# BehaviorTask-specific
"activity_name": "laying_wood_floors",
"online_object_sampling": True,
},
}
if og.sim is None:
# Make sure GPU dynamics are enabled (GPU dynamics needed for cloth)
gm.ENABLE_OBJECT_STATES = True
gm.USE_GPU_DYNAMICS = True
gm.ENABLE_TRANSITION_RULES = False
else:
# Make sure sim is stopped
og.sim.stop()
# Create temp file to save data
_, collect_hdf5_path = tempfile.mkstemp("test_data_collection.hdf5", dir=og.tempdir)
_, playback_hdf5_path = tempfile.mkstemp("test_data_playback.hdf5", dir=og.tempdir)
# Create the environment (wrapped as a DataCollection env)
> env = og.Environment(configs=cfg)
tests/test_data_collection.py:50:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
omnigibson/utils/python_utils.py:91: in wrapper
func(*values.args, **values.kwargs)
omnigibson/envs/env_base.py:103: in __init__
og.launch(
omnigibson/simulator.py:251: in _launch_simulator
og.app = _launch_app()
omnigibson/simulator.py:150: in _launch_app
assert lazy.isaacsim.core.utils.stage.close_stage()
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
self = <module 'lazy_isaacsim' from '/isaac-sim/python_packages/isaacsim/__init__.py'>
name = 'core'
def __getattr__(self, name: str):
# First, try the argument as a module name.
if name not in self._not_module:
submodule = self._get_module(name)
if submodule:
return submodule
else:
# Record module not found so that we don't keep looking.
self._not_module.add(name)
# If it's not a module name, try it as a member of this module.
try:
return getattr(self._module, name)
except:
> raise AttributeError(f"module {self.__name__} has no attribute {name}") from None
E AttributeError: module lazy_isaacsim has no attribute core
omnigibson/utils/lazy_import_utils.py:29: AttributeError
Check failure on line 0 in test_primitives.xml
github-actions / Test Results
pytest ► tests.test_primitives
Failed test found in:
test_primitives.xml
Error:
tests/test_primitives.py:18: in <module>
Raw output
tests/test_primitives.py:18: in <module>
og.launch()
omnigibson/simulator.py:251: in _launch_simulator
og.app = _launch_app()
omnigibson/simulator.py:150: in _launch_app
assert lazy.isaacsim.core.utils.stage.close_stage()
omnigibson/utils/lazy_import_utils.py:29: in __getattr__
raise AttributeError(f"module {self.__name__} has no attribute {name}") from None
E AttributeError: module lazy_isaacsim has no attribute core
Check failure on line 0 in test_scene_graph.xml
github-actions / Test Results
pytest ► tests.test_scene_graph ► test_scene_graph
Failed test found in:
test_scene_graph.xml
Error:
def test_scene_graph():
Raw output
def test_scene_graph():
if og.sim is None:
# Set global flags
gm.ENABLE_OBJECT_STATES = True
else:
# Make sure sim is stopped
og.sim.stop()
def create_robot_config(name, position):
return {
"name": name,
"type": "Fetch",
"obs_modalities": ["rgb", "seg_instance"],
"position": position,
"orientation": T.euler2quat(th.tensor([0, 0, -math.pi / 2], dtype=th.float32)),
"controller_config": {
"arm_0": {
"name": "NullJointController",
"motor_type": "position",
},
},
}
robot_names = ["fetch_1", "fetch_2", "fetch_3"]
robot_positions = [[0, 0.8, 0], [1, 0.8, 0], [2, 0.8, 0]]
config = {
"scene": {
"type": "Scene",
},
"robots": [create_robot_config(name, position) for name, position in zip(robot_names, robot_positions)],
"objects": [
{
"type": "DatasetObject",
"fit_avg_dim_volume": True,
"name": "breakfast_table",
"category": "breakfast_table",
"model": "skczfi",
"prim_type": PrimType.RIGID,
"position": [150, 150, 150],
"scale": None,
"bounding_box": None,
"abilities": None,
"visual_only": False,
},
{
"type": "DatasetObject",
"fit_avg_dim_volume": True,
"name": "bowl",
"category": "bowl",
"model": "ajzltc",
"prim_type": PrimType.RIGID,
"position": [150, 150, 150],
"scale": None,
"bounding_box": None,
"abilities": None,
"visual_only": False,
},
],
}
> env = og.Environment(configs=config)
tests/test_scene_graph.py:74:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
omnigibson/utils/python_utils.py:91: in wrapper
func(*values.args, **values.kwargs)
omnigibson/envs/env_base.py:103: in __init__
og.launch(
omnigibson/simulator.py:251: in _launch_simulator
og.app = _launch_app()
omnigibson/simulator.py:150: in _launch_app
assert lazy.isaacsim.core.utils.stage.close_stage()
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
self = <module 'lazy_isaacsim' from '/isaac-sim/python_packages/isaacsim/__init__.py'>
name = 'core'
def __getattr__(self, name: str):
# First, try the argument as a module name.
if name not in self._not_module:
submodule = self._get_module(name)
if submodule:
return submodule
else:
# Record module not found so that we don't keep looking.
self._not_module.add(name)
# If it's not a module name, try it as a member of this module.
try:
return getattr(self._module, name)
except:
> raise AttributeError(f"module {self.__name__} has no attribute {name}") from None
E AttributeError: module lazy_isaacsim has no attribute core
omnigibson/utils/lazy_import_utils.py:29: AttributeError
Check failure on line 0 in test_systems.xml
github-actions / Test Results
pytest ► tests.test_systems ► test_system_clear
Failed test found in:
test_systems.xml
Error:
def wrapper():
Raw output
def wrapper():
> assert_test_env()
tests/utils.py:25:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
tests/utils.py:192: in assert_test_env
env = og.Environment(configs=cfg)
omnigibson/utils/python_utils.py:91: in wrapper
func(*values.args, **values.kwargs)
omnigibson/envs/env_base.py:103: in __init__
og.launch(
omnigibson/simulator.py:251: in _launch_simulator
og.app = _launch_app()
omnigibson/simulator.py:150: in _launch_app
assert lazy.isaacsim.core.utils.stage.close_stage()
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
self = <module 'lazy_isaacsim' from '/isaac-sim/python_packages/isaacsim/__init__.py'>
name = 'core'
def __getattr__(self, name: str):
# First, try the argument as a module name.
if name not in self._not_module:
submodule = self._get_module(name)
if submodule:
return submodule
else:
# Record module not found so that we don't keep looking.
self._not_module.add(name)
# If it's not a module name, try it as a member of this module.
try:
return getattr(self._module, name)
except:
> raise AttributeError(f"module {self.__name__} has no attribute {name}") from None
E AttributeError: module lazy_isaacsim has no attribute core
omnigibson/utils/lazy_import_utils.py:29: AttributeError
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