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Feat/robot fixes #1075

Merged
merged 55 commits into from
Feb 5, 2025

explicitly copy proprio values to avoid implicit reference updating

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Merged

Feat/robot fixes #1075

explicitly copy proprio values to avoid implicit reference updating
2d8c585
Select commit
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Failed to load commit list.
GitHub Actions / Test Results succeeded Feb 5, 2025 in 1s

149 passed, 0 failed and 13 skipped

Tests passed successfully

Report Passed Failed Skipped Time
test_controllers.xml 1✅ 837s
test_curobo.xml 1✅ 935s
test_data_collection.xml 1✅ 1757s
test_dump_load_states.xml 4✅ 2120s
test_envs.xml 5✅ 1992s
test_multiple_envs.xml 8✅ 2⚪ 600s
test_object_removal.xml 2✅ 1978s
test_object_states.xml 33✅ 2114s
test_primitives.xml 6✅ 4⚪ 2497s
test_robot_states_flatcache.xml 3✅ 1011s
test_robot_states_no_flatcache.xml 3✅ 581s
test_robot_teleoperation.xml 1⚪ 35ms
test_scene_graph.xml 1✅ 459s
test_sensors.xml 2✅ 1822s
test_symbolic_primitives.xml 14✅ 6⚪ 1361s
test_systems.xml 1✅ 1904s
test_transform_utils.xml 34✅ 129s
test_transition_rules.xml 30✅ 2269s

✅ test_controllers.xml

1 tests were completed in 837s with 1 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 1✅ 837s

✅ pytest

tests.test_controllers
  ✅ test_arm_control

✅ test_curobo.xml

1 tests were completed in 935s with 1 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 1✅ 935s

✅ pytest

tests.test_curobo
  ✅ test_curobo

✅ test_data_collection.xml

1 tests were completed in 1757s with 1 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 1✅ 1757s

✅ pytest

tests.test_data_collection
  ✅ test_data_collect_and_playback

✅ test_dump_load_states.xml

4 tests were completed in 2120s with 4 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 4✅ 2120s

✅ pytest

tests.test_dump_load_states
  ✅ test_dump_load
  ✅ test_dump_load_serialized
  ✅ test_save_restore_partial
  ✅ test_save_restore_full

✅ test_envs.xml

5 tests were completed in 1992s with 5 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 5✅ 1992s

✅ pytest

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

✅ test_multiple_envs.xml

10 tests were completed in 600s with 8 passed, 0 failed and 2 skipped.

Test suite Passed Failed Skipped Time
pytest 8✅ 2⚪ 600s

✅ 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

✅ test_object_removal.xml

2 tests were completed in 1978s with 2 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 2✅ 1978s

✅ pytest

tests.test_object_removal
  ✅ test_removal_and_readdition
  ✅ test_readdition

✅ test_object_states.xml

33 tests were completed in 2114s with 33 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 33✅ 2114s

✅ 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

✅ test_primitives.xml

10 tests were completed in 2497s with 6 passed, 0 failed and 4 skipped.

Test suite Passed Failed Skipped Time
pytest 6✅ 4⚪ 2497s

✅ pytest

tests.test_primitives.TestPrimitives
  ✅ test_navigate[Tiago]
  ✅ test_navigate[R1]
  ✅ test_grasp[Tiago]
  ✅ test_grasp[R1]
  ✅ test_place[Tiago]
  ✅ test_place[R1]
  ⚪ test_open_prismatic[Tiago]
  ⚪ test_open_prismatic[R1]
  ⚪ test_open_revolute[Tiago]
  ⚪ test_open_revolute[R1]

✅ test_robot_states_flatcache.xml

3 tests were completed in 1011s with 3 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 3✅ 1011s

✅ pytest

tests.test_robot_states_flatcache
  ✅ test_camera_pose_flatcache_on
  ✅ test_robot_load_drive
  ✅ test_grasping_mode

✅ test_robot_states_no_flatcache.xml

3 tests were completed in 581s with 3 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 3✅ 581s

✅ pytest

tests.test_robot_states_no_flatcache
  ✅ test_camera_pose_flatcache_off
  ✅ test_camera_semantic_segmentation
  ✅ test_object_in_FOV_of_robot

✅ test_robot_teleoperation.xml

1 tests were completed in 35ms with 0 passed, 0 failed and 1 skipped.

Test suite Passed Failed Skipped Time
pytest 1⚪ 35ms

✅ pytest

tests.test_robot_teleoperation
  ⚪ test_teleop

✅ test_scene_graph.xml

1 tests were completed in 459s with 1 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 1✅ 459s

✅ pytest

tests.test_scene_graph
  ✅ test_scene_graph

✅ test_sensors.xml

2 tests were completed in 1822s with 2 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 2✅ 1822s

✅ pytest

tests.test_sensors
  ✅ test_segmentation_modalities
  ✅ test_bbox_modalities

✅ test_symbolic_primitives.xml

20 tests were completed in 1361s with 14 passed, 0 failed and 6 skipped.

Test suite Passed Failed Skipped Time
pytest 14✅ 6⚪ 1361s

✅ pytest

tests.test_symbolic_primitives.TestSymbolicPrimitives
  ✅ test_in_hand_state[R1]
  ✅ test_open[R1]
  ✅ test_close[R1]
  ✅ test_place_inside[R1]
  ✅ test_place_ontop[R1]
  ✅ test_toggle_on[R1]
  ⚪ test_soak_under[R1]
  ⚪ test_wipe[R1]
  ⚪ test_cut[R1]
  ✅ test_persistent_sticky_grasping[R1]
  ✅ 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]

✅ test_systems.xml

1 tests were completed in 1904s with 1 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 1✅ 1904s

✅ pytest

tests.test_systems
  ✅ test_system_clear

✅ test_transform_utils.xml

34 tests were completed in 129s with 34 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 34✅ 129s

✅ 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

✅ test_transition_rules.xml

30 tests were completed in 2269s with 30 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
pytest 30✅ 2269s

✅ pytest

tests.test_transition_rules
  ✅ test_dryer_rule
  ✅ test_washer_rule
  ✅ test_slicing_rule
  ✅ test_dicing_rule_cooked
  ✅ test_dicing_rule_uncooked
  ✅ test_melting_rule
  ✅ test_cooking_physical_particle_rule_failure_recipe_systems
  ✅ test_cooking_physical_particle_rule_success
  ✅ test_mixing_rule_failure_recipe_systems
  ✅ test_mixing_rule_failure_nonrecipe_systems
  ✅ test_mixing_rule_success
  ✅ test_cooking_system_rule_failure_recipe_systems
  ✅ test_cooking_system_rule_failure_nonrecipe_systems
  ✅ test_cooking_system_rule_failure_nonrecipe_objects
  ✅ test_cooking_system_rule_success
  ✅ test_cooking_object_rule_failure_wrong_container
  ✅ test_cooking_object_rule_failure_recipe_objects
  ✅ test_cooking_object_rule_failure_unary_states
  ✅ test_cooking_object_rule_failure_binary_system_states
  ✅ test_cooking_object_rule_failure_binary_object_states
  ✅ test_cooking_object_rule_failure_wrong_heat_source
  ✅ test_cooking_object_rule_success
  ✅ test_single_toggleable_machine_rule_output_system_failure_wrong_container
  ✅ test_single_toggleable_machine_rule_output_system_failure_recipe_systems
  ✅ test_single_toggleable_machine_rule_output_system_failure_recipe_objects
  ✅ test_single_toggleable_machine_rule_output_system_failure_nonrecipe_systems
  ✅ test_single_toggleable_machine_rule_output_system_failure_nonrecipe_objects
  ✅ test_single_toggleable_machine_rule_output_system_success
  ✅ test_single_toggleable_machine_rule_output_object_failure_unary_states
  ✅ test_single_toggleable_machine_rule_output_object_success
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