Isaac 4.5 Upgrade #2625
GitHub Actions / Test Results
succeeded
Mar 8, 2025 in 1s
34 passed, 110 failed and 9 skipped
| Report | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| test_controllers.xml | 1❌ | 265ms | ||
| test_curobo.xml | 1❌ | 211ms | ||
| test_data_collection.xml | 1❌ | 191ms | ||
| test_dump_load_states.xml | 4❌ | 675ms | ||
| test_envs.xml | 5❌ | 615ms | ||
| test_multiple_envs.xml | 8❌ | 2⚪ | 893ms | |
| test_object_removal.xml | 2❌ | 258ms | ||
| test_object_states.xml | 33❌ | 3s | ||
| test_primitives.xml | 1❌ | 245ms | ||
| test_robot_states_flatcache.xml | 3❌ | 554ms | ||
| test_robot_states_no_flatcache.xml | 3❌ | 555ms | ||
| test_robot_teleoperation.xml | 1⚪ | 29ms | ||
| test_scene_graph.xml | 1❌ | 10s | ||
| test_sensors.xml | 2❌ | 345ms | ||
| test_symbolic_primitives.xml | 14❌ | 6⚪ | 1s | |
| test_systems.xml | 1❌ | 215ms | ||
| test_transform_utils.xml | 34✅ | 113s | ||
| test_transition_rules.xml | 30❌ | 2s |
❌ test_controllers.xml
1 tests were completed in 265ms with 0 passed, 1 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1❌ | 265ms |
❌ pytest
tests.test_controllers
❌ test_arm_control
def test_arm_control():
❌ test_curobo.xml
1 tests were completed in 211ms with 0 passed, 1 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1❌ | 211ms |
❌ pytest
tests.test_curobo
❌ test_curobo
def test_curobo():
❌ test_data_collection.xml
1 tests were completed in 191ms with 0 passed, 1 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1❌ | 191ms |
❌ pytest
tests.test_data_collection
❌ test_data_collect_and_playback
def test_data_collect_and_playback():
❌ test_dump_load_states.xml
4 tests were completed in 675ms with 0 passed, 4 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 4❌ | 675ms |
❌ pytest
tests.test_dump_load_states
❌ test_dump_load
def wrapper():
❌ test_dump_load_serialized
def wrapper():
❌ test_save_restore_partial
def wrapper():
❌ test_save_restore_full
def wrapper():
❌ test_envs.xml
5 tests were completed in 615ms with 0 passed, 5 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 5❌ | 615ms |
❌ pytest
tests.test_envs
❌ test_dummy_task
def test_dummy_task():
❌ test_point_reaching_task
def test_point_reaching_task():
❌ test_point_navigation_task
def test_point_navigation_task():
❌ test_behavior_task
def test_behavior_task():
❌ test_rs_int_full_load
def test_rs_int_full_load():
❌ test_multiple_envs.xml
10 tests were completed in 893ms with 0 passed, 8 failed and 2 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 8❌ | 2⚪ | 893ms |
❌ pytest
tests.test_multiple_envs
❌ test_multi_scene_dump_load_states
def test_multi_scene_dump_load_states():
❌ test_multi_scene_get_local_position
def test_multi_scene_get_local_position():
❌ test_multi_scene_set_local_position
def test_multi_scene_set_local_position():
❌ test_multi_scene_scene_prim
def test_multi_scene_scene_prim():
❌ test_multi_scene_particle_source
def test_multi_scene_particle_source():
❌ test_multi_scene_position_orientation_relative_to_scene
def test_multi_scene_position_orientation_relative_to_scene():
❌ test_tiago_getter
def test_tiago_getter():
❌ test_tiago_setter
def test_tiago_setter():
⚪ test_behavior_getter
⚪ test_behavior_setter
❌ test_object_removal.xml
2 tests were completed in 258ms with 0 passed, 2 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 2❌ | 258ms |
❌ pytest
tests.test_object_removal
❌ test_removal_and_readdition
def wrapper():
❌ test_readdition
def wrapper():
❌ test_object_states.xml
33 tests were completed in 3s with 0 passed, 33 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 33❌ | 3s |
❌ pytest
tests.test_object_states
❌ test_on_top
def wrapper():
❌ test_inside
def wrapper():
❌ test_under
def wrapper():
❌ test_touching
def wrapper():
❌ test_contact_bodies
def wrapper():
❌ test_next_to
def wrapper():
❌ test_overlaid
def wrapper():
❌ test_pose
def wrapper():
❌ test_joint
def wrapper():
❌ test_aabb
def wrapper():
❌ test_adjacency
def wrapper():
❌ test_temperature
def wrapper():
❌ test_max_temperature
def wrapper():
❌ test_heat_source_or_sink
def wrapper():
❌ test_cooked
def wrapper():
❌ test_burnt
def wrapper():
❌ test_frozen
def wrapper():
❌ test_heated
def wrapper():
❌ test_on_fire
def wrapper():
❌ test_toggled_on
def wrapper():
❌ test_attached_to
def wrapper():
❌ test_particle_source
def wrapper():
❌ test_particle_sink
def wrapper():
❌ test_particle_applier
def wrapper():
❌ test_particle_remover
def wrapper():
❌ test_saturated
def wrapper():
❌ test_open
def wrapper():
❌ test_folded_unfolded
def wrapper():
❌ test_draped
def wrapper():
❌ test_filled
def wrapper():
❌ test_contains
def wrapper():
❌ test_covered
def wrapper():
❌ test_clear_sim
def test_clear_sim():
❌ test_primitives.xml
1 tests were completed in 245ms with 0 passed, 1 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1❌ | 245ms |
❌ pytest
❌ tests.test_primitives
tests/test_primitives.py:18: in <module>
❌ test_robot_states_flatcache.xml
3 tests were completed in 554ms with 0 passed, 3 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 3❌ | 554ms |
❌ pytest
tests.test_robot_states_flatcache
❌ test_camera_pose_flatcache_on
def test_camera_pose_flatcache_on():
❌ test_robot_load_drive
def test_robot_load_drive():
❌ test_grasping_mode
def test_grasping_mode():
❌ test_robot_states_no_flatcache.xml
3 tests were completed in 555ms with 0 passed, 3 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 3❌ | 555ms |
❌ pytest
tests.test_robot_states_no_flatcache
❌ test_camera_pose_flatcache_off
def test_camera_pose_flatcache_off():
❌ test_camera_semantic_segmentation
def test_camera_semantic_segmentation():
❌ test_object_in_FOV_of_robot
def test_object_in_FOV_of_robot():
✅ test_robot_teleoperation.xml
1 tests were completed in 29ms with 0 passed, 0 failed and 1 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1⚪ | 29ms |
✅ pytest
tests.test_robot_teleoperation
⚪ test_teleop
❌ test_scene_graph.xml
1 tests were completed in 10s with 0 passed, 1 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1❌ | 10s |
❌ pytest
tests.test_scene_graph
❌ test_scene_graph
def test_scene_graph():
❌ test_sensors.xml
2 tests were completed in 345ms with 0 passed, 2 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 2❌ | 345ms |
❌ pytest
tests.test_sensors
❌ test_segmentation_modalities
def wrapper():
❌ test_bbox_modalities
def wrapper():
❌ test_symbolic_primitives.xml
20 tests were completed in 1s with 0 passed, 14 failed and 6 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 14❌ | 6⚪ | 1s |
❌ pytest
tests.test_symbolic_primitives.TestSymbolicPrimitives
❌ test_in_hand_state[R1]
robot_type = 'R1'
❌ test_open[R1]
robot_type = 'R1'
❌ test_close[R1]
robot_type = 'R1'
❌ test_place_inside[R1]
robot_type = 'R1'
❌ test_place_ontop[R1]
robot_type = 'R1'
❌ test_toggle_on[R1]
robot_type = 'R1'
⚪ test_soak_under[R1]
⚪ test_wipe[R1]
⚪ test_cut[R1]
❌ test_persistent_sticky_grasping[R1]
robot_type = 'R1'
❌ test_in_hand_state[Tiago]
robot_type = 'Tiago'
❌ test_open[Tiago]
robot_type = 'Tiago'
❌ test_close[Tiago]
robot_type = 'Tiago'
❌ test_place_inside[Tiago]
robot_type = 'Tiago'
❌ test_place_ontop[Tiago]
robot_type = 'Tiago'
❌ test_toggle_on[Tiago]
robot_type = 'Tiago'
⚪ test_soak_under[Tiago]
⚪ test_wipe[Tiago]
⚪ test_cut[Tiago]
❌ test_persistent_sticky_grasping[Tiago]
robot_type = 'Tiago'
❌ test_systems.xml
1 tests were completed in 215ms with 0 passed, 1 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 1❌ | 215ms |
❌ pytest
tests.test_systems
❌ test_system_spawn_and_clear
def wrapper():
✅ test_transform_utils.xml
34 tests were completed in 113s with 34 passed, 0 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 34✅ | 113s |
✅ 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 2s with 0 passed, 30 failed and 0 skipped.
| Test suite | Passed | Failed | Skipped | Time |
|---|---|---|---|---|
| pytest | 30❌ | 2s |
❌ pytest
tests.test_transition_rules
❌ test_dryer_rule
def wrapper():
❌ test_washer_rule
def wrapper():
❌ test_slicing_rule
def wrapper():
❌ test_dicing_rule_cooked
def wrapper():
❌ test_dicing_rule_uncooked
def wrapper():
❌ test_melting_rule
def wrapper():
❌ test_cooking_physical_particle_rule_failure_recipe_systems
def wrapper():
❌ test_cooking_physical_particle_rule_success
def wrapper():
❌ test_mixing_rule_failure_recipe_systems
def wrapper():
❌ test_mixing_rule_failure_nonrecipe_systems
def wrapper():
❌ test_mixing_rule_success
def wrapper():
❌ test_cooking_system_rule_failure_recipe_systems
def wrapper():
❌ test_cooking_system_rule_failure_nonrecipe_systems
def wrapper():
❌ test_cooking_system_rule_failure_nonrecipe_objects
def wrapper():
❌ test_cooking_system_rule_success
def wrapper():
❌ test_cooking_object_rule_failure_wrong_container
def wrapper():
❌ test_cooking_object_rule_failure_recipe_objects
def wrapper():
❌ test_cooking_object_rule_failure_unary_states
def wrapper():
❌ test_cooking_object_rule_failure_binary_system_states
def wrapper():
❌ test_cooking_object_rule_failure_binary_object_states
def wrapper():
❌ test_cooking_object_rule_failure_wrong_heat_source
def wrapper():
❌ test_cooking_object_rule_success
def wrapper():
❌ test_single_toggleable_machine_rule_output_system_failure_wrong_container
def wrapper():
❌ test_single_toggleable_machine_rule_output_system_failure_recipe_systems
def wrapper():
❌ test_single_toggleable_machine_rule_output_system_failure_recipe_objects
def wrapper():
❌ test_single_toggleable_machine_rule_output_system_failure_nonrecipe_systems
def wrapper():
❌ test_single_toggleable_machine_rule_output_system_failure_nonrecipe_objects
def wrapper():
❌ test_single_toggleable_machine_rule_output_system_success
def wrapper():
❌ 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 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:92: in wrapper
func(*values.args, **values.kwargs)
omnigibson/envs/env_base.py:103: in __init__
og.launch(
omnigibson/simulator.py:249: in _launch_simulator
og.app = _launch_app()
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
def _launch_app():
log.setLevel(logging.DEBUG if gm.DEBUG else logging.INFO)
log.info(f"{'-' * 5} Starting {logo_small()}. This will take 10-30 seconds... {'-' * 5}")
# If multi_gpu is used, og.sim.render() will cause a segfault when called during on_contact callbacks,
# e.g. when an attachment joint is being created due to contacts (create_joint calls og.sim.render() internally).
gpu_id = None if gm.GPU_ID is None else int(gm.GPU_ID)
config_kwargs = {"headless": gm.HEADLESS or bool(gm.REMOTE_STREAMING), "multi_gpu": False}
if gpu_id is not None:
config_kwargs["active_gpu"] = gpu_id
config_kwargs["physics_gpu"] = gpu_id
# Omni's logging is super annoying and overly verbose, so suppress it by modifying the logging levels
if not gm.DEBUG:
import warnings
try:
from numba.core.errors import NumbaPerformanceWarning
warnings.simplefilter("ignore", category=NumbaPerformanceWarning)
except ImportError:
pass
# TODO: Find a more elegant way to prune omni logging
# sys.argv.append("--/log/level=warning")
# sys.argv.append("--/log/fileLogLevel=warning")
# sys.argv.append("--/log/outputStreamLevel=error")
# Try to import the isaacsim module that only shows up in Isaac Sim 4.0.0. This ensures that
# if we are using the pip installed version, all the ISAAC_PATH etc. env vars are set correctly.
# On the regular omniverse launcher version this should not have any impact.
try:
os.environ["OMNI_KIT_ACCEPT_EULA"] = "YES"
import isaacsim # noqa: F401
except ImportError:
pass
# First obtain the Isaac Sim version
isaac_path = os.environ["ISAAC_PATH"]
version_file_path = os.path.join(isaac_path, "VERSION")
assert os.path.exists(version_file_path), f"Isaac Sim version file not found at {version_file_path}"
with open(version_file_path, "r") as file:
version_content = file.read().strip()
isaac_version_str = version_content.split("-")[0]
isaac_version_tuple = tuple(map(int, isaac_version_str.split(".")[:3]))
> assert isaac_version_tuple in m.KIT_FILES, f"Isaac Sim version must be one of {list(m.KIT_FILES.keys())}"
E AssertionError: Isaac Sim version must be one of [(4, 5, 0)]
omnigibson/simulator.py:126: AssertionError
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:92: in wrapper
func(*values.args, **values.kwargs)
omnigibson/envs/env_base.py:103: in __init__
og.launch(
omnigibson/simulator.py:249: in _launch_simulator
og.app = _launch_app()
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
def _launch_app():
log.setLevel(logging.DEBUG if gm.DEBUG else logging.INFO)
log.info(f"{'-' * 5} Starting {logo_small()}. This will take 10-30 seconds... {'-' * 5}")
# If multi_gpu is used, og.sim.render() will cause a segfault when called during on_contact callbacks,
# e.g. when an attachment joint is being created due to contacts (create_joint calls og.sim.render() internally).
gpu_id = None if gm.GPU_ID is None else int(gm.GPU_ID)
config_kwargs = {"headless": gm.HEADLESS or bool(gm.REMOTE_STREAMING), "multi_gpu": False}
if gpu_id is not None:
config_kwargs["active_gpu"] = gpu_id
config_kwargs["physics_gpu"] = gpu_id
# Omni's logging is super annoying and overly verbose, so suppress it by modifying the logging levels
if not gm.DEBUG:
import warnings
try:
from numba.core.errors import NumbaPerformanceWarning
warnings.simplefilter("ignore", category=NumbaPerformanceWarning)
except ImportError:
pass
# TODO: Find a more elegant way to prune omni logging
# sys.argv.append("--/log/level=warning")
# sys.argv.append("--/log/fileLogLevel=warning")
# sys.argv.append("--/log/outputStreamLevel=error")
# Try to import the isaacsim module that only shows up in Isaac Sim 4.0.0. This ensures that
# if we are using the pip installed version, all the ISAAC_PATH etc. env vars are set correctly.
# On the regular omniverse launcher version this should not have any impact.
try:
os.environ["OMNI_KIT_ACCEPT_EULA"] = "YES"
import isaacsim # noqa: F401
except ImportError:
pass
# First obtain the Isaac Sim version
isaac_path = os.environ["ISAAC_PATH"]
version_file_path = os.path.join(isaac_path, "VERSION")
assert os.path.exists(version_file_path), f"Isaac Sim version file not found at {version_file_path}"
with open(version_file_path, "r") as file:
version_content = file.read().strip()
isaac_version_str = version_content.split("-")[0]
isaac_version_tuple = tuple(map(int, isaac_version_str.split(".")[:3]))
> assert isaac_version_tuple in m.KIT_FILES, f"Isaac Sim version must be one of {list(m.KIT_FILES.keys())}"
E AssertionError: Isaac Sim version must be one of [(4, 5, 0)]
omnigibson/simulator.py:126: AssertionError
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:92: in wrapper
func(*values.args, **values.kwargs)
omnigibson/envs/env_base.py:103: in __init__
og.launch(
omnigibson/simulator.py:249: in _launch_simulator
og.app = _launch_app()
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
def _launch_app():
log.setLevel(logging.DEBUG if gm.DEBUG else logging.INFO)
log.info(f"{'-' * 5} Starting {logo_small()}. This will take 10-30 seconds... {'-' * 5}")
# If multi_gpu is used, og.sim.render() will cause a segfault when called during on_contact callbacks,
# e.g. when an attachment joint is being created due to contacts (create_joint calls og.sim.render() internally).
gpu_id = None if gm.GPU_ID is None else int(gm.GPU_ID)
config_kwargs = {"headless": gm.HEADLESS or bool(gm.REMOTE_STREAMING), "multi_gpu": False}
if gpu_id is not None:
config_kwargs["active_gpu"] = gpu_id
config_kwargs["physics_gpu"] = gpu_id
# Omni's logging is super annoying and overly verbose, so suppress it by modifying the logging levels
if not gm.DEBUG:
import warnings
try:
from numba.core.errors import NumbaPerformanceWarning
warnings.simplefilter("ignore", category=NumbaPerformanceWarning)
except ImportError:
pass
# TODO: Find a more elegant way to prune omni logging
# sys.argv.append("--/log/level=warning")
# sys.argv.append("--/log/fileLogLevel=warning")
# sys.argv.append("--/log/outputStreamLevel=error")
# Try to import the isaacsim module that only shows up in Isaac Sim 4.0.0. This ensures that
# if we are using the pip installed version, all the ISAAC_PATH etc. env vars are set correctly.
# On the regular omniverse launcher version this should not have any impact.
try:
os.environ["OMNI_KIT_ACCEPT_EULA"] = "YES"
import isaacsim # noqa: F401
except ImportError:
pass
# First obtain the Isaac Sim version
isaac_path = os.environ["ISAAC_PATH"]
version_file_path = os.path.join(isaac_path, "VERSION")
assert os.path.exists(version_file_path), f"Isaac Sim version file not found at {version_file_path}"
with open(version_file_path, "r") as file:
version_content = file.read().strip()
isaac_version_str = version_content.split("-")[0]
isaac_version_tuple = tuple(map(int, isaac_version_str.split(".")[:3]))
> assert isaac_version_tuple in m.KIT_FILES, f"Isaac Sim version must be one of {list(m.KIT_FILES.keys())}"
E AssertionError: Isaac Sim version must be one of [(4, 5, 0)]
omnigibson/simulator.py:126: AssertionError
Check failure on line 0 in test_dump_load_states.xml
github-actions / Test Results
pytest ► tests.test_dump_load_states ► test_dump_load
Failed test found in:
test_dump_load_states.xml
test_dump_load_states.xml
test_dump_load_states.xml
test_dump_load_states.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:92: in wrapper
func(*values.args, **values.kwargs)
omnigibson/envs/env_base.py:103: in __init__
og.launch(
omnigibson/simulator.py:249: in _launch_simulator
og.app = _launch_app()
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
def _launch_app():
log.setLevel(logging.DEBUG if gm.DEBUG else logging.INFO)
log.info(f"{'-' * 5} Starting {logo_small()}. This will take 10-30 seconds... {'-' * 5}")
# If multi_gpu is used, og.sim.render() will cause a segfault when called during on_contact callbacks,
# e.g. when an attachment joint is being created due to contacts (create_joint calls og.sim.render() internally).
gpu_id = None if gm.GPU_ID is None else int(gm.GPU_ID)
config_kwargs = {"headless": gm.HEADLESS or bool(gm.REMOTE_STREAMING), "multi_gpu": False}
if gpu_id is not None:
config_kwargs["active_gpu"] = gpu_id
config_kwargs["physics_gpu"] = gpu_id
# Omni's logging is super annoying and overly verbose, so suppress it by modifying the logging levels
if not gm.DEBUG:
import warnings
try:
from numba.core.errors import NumbaPerformanceWarning
warnings.simplefilter("ignore", category=NumbaPerformanceWarning)
except ImportError:
pass
# TODO: Find a more elegant way to prune omni logging
# sys.argv.append("--/log/level=warning")
# sys.argv.append("--/log/fileLogLevel=warning")
# sys.argv.append("--/log/outputStreamLevel=error")
# Try to import the isaacsim module that only shows up in Isaac Sim 4.0.0. This ensures that
# if we are using the pip installed version, all the ISAAC_PATH etc. env vars are set correctly.
# On the regular omniverse launcher version this should not have any impact.
try:
os.environ["OMNI_KIT_ACCEPT_EULA"] = "YES"
import isaacsim # noqa: F401
except ImportError:
pass
# First obtain the Isaac Sim version
isaac_path = os.environ["ISAAC_PATH"]
version_file_path = os.path.join(isaac_path, "VERSION")
assert os.path.exists(version_file_path), f"Isaac Sim version file not found at {version_file_path}"
with open(version_file_path, "r") as file:
version_content = file.read().strip()
isaac_version_str = version_content.split("-")[0]
isaac_version_tuple = tuple(map(int, isaac_version_str.split(".")[:3]))
> assert isaac_version_tuple in m.KIT_FILES, f"Isaac Sim version must be one of {list(m.KIT_FILES.keys())}"
E AssertionError: Isaac Sim version must be one of [(4, 5, 0)]
omnigibson/simulator.py:126: AssertionError
Check failure on line 0 in test_envs.xml
github-actions / Test Results
pytest ► tests.test_envs ► test_dummy_task
Failed test found in:
test_envs.xml
Error:
def test_dummy_task():
Raw output
def test_dummy_task():
> task_tester("DummyTask")
tests/test_envs.py:48:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
tests/test_envs.py:37: in task_tester
env = og.Environment(configs=cfg)
omnigibson/utils/python_utils.py:92: in wrapper
func(*values.args, **values.kwargs)
omnigibson/envs/env_base.py:103: in __init__
og.launch(
omnigibson/simulator.py:249: in _launch_simulator
og.app = _launch_app()
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
def _launch_app():
log.setLevel(logging.DEBUG if gm.DEBUG else logging.INFO)
log.info(f"{'-' * 5} Starting {logo_small()}. This will take 10-30 seconds... {'-' * 5}")
# If multi_gpu is used, og.sim.render() will cause a segfault when called during on_contact callbacks,
# e.g. when an attachment joint is being created due to contacts (create_joint calls og.sim.render() internally).
gpu_id = None if gm.GPU_ID is None else int(gm.GPU_ID)
config_kwargs = {"headless": gm.HEADLESS or bool(gm.REMOTE_STREAMING), "multi_gpu": False}
if gpu_id is not None:
config_kwargs["active_gpu"] = gpu_id
config_kwargs["physics_gpu"] = gpu_id
# Omni's logging is super annoying and overly verbose, so suppress it by modifying the logging levels
if not gm.DEBUG:
import warnings
try:
from numba.core.errors import NumbaPerformanceWarning
warnings.simplefilter("ignore", category=NumbaPerformanceWarning)
except ImportError:
pass
# TODO: Find a more elegant way to prune omni logging
# sys.argv.append("--/log/level=warning")
# sys.argv.append("--/log/fileLogLevel=warning")
# sys.argv.append("--/log/outputStreamLevel=error")
# Try to import the isaacsim module that only shows up in Isaac Sim 4.0.0. This ensures that
# if we are using the pip installed version, all the ISAAC_PATH etc. env vars are set correctly.
# On the regular omniverse launcher version this should not have any impact.
try:
os.environ["OMNI_KIT_ACCEPT_EULA"] = "YES"
import isaacsim # noqa: F401
except ImportError:
pass
# First obtain the Isaac Sim version
isaac_path = os.environ["ISAAC_PATH"]
version_file_path = os.path.join(isaac_path, "VERSION")
assert os.path.exists(version_file_path), f"Isaac Sim version file not found at {version_file_path}"
with open(version_file_path, "r") as file:
version_content = file.read().strip()
isaac_version_str = version_content.split("-")[0]
isaac_version_tuple = tuple(map(int, isaac_version_str.split(".")[:3]))
> assert isaac_version_tuple in m.KIT_FILES, f"Isaac Sim version must be one of {list(m.KIT_FILES.keys())}"
E AssertionError: Isaac Sim version must be one of [(4, 5, 0)]
omnigibson/simulator.py:126: AssertionError
Check failure on line 0 in test_envs.xml
github-actions / Test Results
pytest ► tests.test_envs ► test_point_reaching_task
Failed test found in:
test_envs.xml
Error:
def test_point_reaching_task():
Raw output
def test_point_reaching_task():
> task_tester("PointReachingTask")
tests/test_envs.py:52:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
tests/test_envs.py:37: in task_tester
env = og.Environment(configs=cfg)
omnigibson/utils/python_utils.py:92: in wrapper
func(*values.args, **values.kwargs)
omnigibson/envs/env_base.py:103: in __init__
og.launch(
omnigibson/simulator.py:249: in _launch_simulator
og.app = _launch_app()
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
def _launch_app():
log.setLevel(logging.DEBUG if gm.DEBUG else logging.INFO)
log.info(f"{'-' * 5} Starting {logo_small()}. This will take 10-30 seconds... {'-' * 5}")
# If multi_gpu is used, og.sim.render() will cause a segfault when called during on_contact callbacks,
# e.g. when an attachment joint is being created due to contacts (create_joint calls og.sim.render() internally).
gpu_id = None if gm.GPU_ID is None else int(gm.GPU_ID)
config_kwargs = {"headless": gm.HEADLESS or bool(gm.REMOTE_STREAMING), "multi_gpu": False}
if gpu_id is not None:
config_kwargs["active_gpu"] = gpu_id
config_kwargs["physics_gpu"] = gpu_id
# Omni's logging is super annoying and overly verbose, so suppress it by modifying the logging levels
if not gm.DEBUG:
import warnings
try:
from numba.core.errors import NumbaPerformanceWarning
warnings.simplefilter("ignore", category=NumbaPerformanceWarning)
except ImportError:
pass
# TODO: Find a more elegant way to prune omni logging
# sys.argv.append("--/log/level=warning")
# sys.argv.append("--/log/fileLogLevel=warning")
# sys.argv.append("--/log/outputStreamLevel=error")
# Try to import the isaacsim module that only shows up in Isaac Sim 4.0.0. This ensures that
# if we are using the pip installed version, all the ISAAC_PATH etc. env vars are set correctly.
# On the regular omniverse launcher version this should not have any impact.
try:
os.environ["OMNI_KIT_ACCEPT_EULA"] = "YES"
import isaacsim # noqa: F401
except ImportError:
pass
# First obtain the Isaac Sim version
isaac_path = os.environ["ISAAC_PATH"]
version_file_path = os.path.join(isaac_path, "VERSION")
assert os.path.exists(version_file_path), f"Isaac Sim version file not found at {version_file_path}"
with open(version_file_path, "r") as file:
version_content = file.read().strip()
isaac_version_str = version_content.split("-")[0]
isaac_version_tuple = tuple(map(int, isaac_version_str.split(".")[:3]))
> assert isaac_version_tuple in m.KIT_FILES, f"Isaac Sim version must be one of {list(m.KIT_FILES.keys())}"
E AssertionError: Isaac Sim version must be one of [(4, 5, 0)]
omnigibson/simulator.py:126: AssertionError
Check failure on line 0 in test_envs.xml
github-actions / Test Results
pytest ► tests.test_envs ► test_point_navigation_task
Failed test found in:
test_envs.xml
Error:
def test_point_navigation_task():
Raw output
def test_point_navigation_task():
> task_tester("PointNavigationTask")
tests/test_envs.py:56:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
tests/test_envs.py:37: in task_tester
env = og.Environment(configs=cfg)
omnigibson/utils/python_utils.py:92: in wrapper
func(*values.args, **values.kwargs)
omnigibson/envs/env_base.py:103: in __init__
og.launch(
omnigibson/simulator.py:249: in _launch_simulator
og.app = _launch_app()
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
def _launch_app():
log.setLevel(logging.DEBUG if gm.DEBUG else logging.INFO)
log.info(f"{'-' * 5} Starting {logo_small()}. This will take 10-30 seconds... {'-' * 5}")
# If multi_gpu is used, og.sim.render() will cause a segfault when called during on_contact callbacks,
# e.g. when an attachment joint is being created due to contacts (create_joint calls og.sim.render() internally).
gpu_id = None if gm.GPU_ID is None else int(gm.GPU_ID)
config_kwargs = {"headless": gm.HEADLESS or bool(gm.REMOTE_STREAMING), "multi_gpu": False}
if gpu_id is not None:
config_kwargs["active_gpu"] = gpu_id
config_kwargs["physics_gpu"] = gpu_id
# Omni's logging is super annoying and overly verbose, so suppress it by modifying the logging levels
if not gm.DEBUG:
import warnings
try:
from numba.core.errors import NumbaPerformanceWarning
warnings.simplefilter("ignore", category=NumbaPerformanceWarning)
except ImportError:
pass
# TODO: Find a more elegant way to prune omni logging
# sys.argv.append("--/log/level=warning")
# sys.argv.append("--/log/fileLogLevel=warning")
# sys.argv.append("--/log/outputStreamLevel=error")
# Try to import the isaacsim module that only shows up in Isaac Sim 4.0.0. This ensures that
# if we are using the pip installed version, all the ISAAC_PATH etc. env vars are set correctly.
# On the regular omniverse launcher version this should not have any impact.
try:
os.environ["OMNI_KIT_ACCEPT_EULA"] = "YES"
import isaacsim # noqa: F401
except ImportError:
pass
# First obtain the Isaac Sim version
isaac_path = os.environ["ISAAC_PATH"]
version_file_path = os.path.join(isaac_path, "VERSION")
assert os.path.exists(version_file_path), f"Isaac Sim version file not found at {version_file_path}"
with open(version_file_path, "r") as file:
version_content = file.read().strip()
isaac_version_str = version_content.split("-")[0]
isaac_version_tuple = tuple(map(int, isaac_version_str.split(".")[:3]))
> assert isaac_version_tuple in m.KIT_FILES, f"Isaac Sim version must be one of {list(m.KIT_FILES.keys())}"
E AssertionError: Isaac Sim version must be one of [(4, 5, 0)]
omnigibson/simulator.py:126: AssertionError
Check failure on line 0 in test_envs.xml
github-actions / Test Results
pytest ► tests.test_envs ► test_behavior_task
Failed test found in:
test_envs.xml
Error:
def test_behavior_task():
Raw output
def test_behavior_task():
> task_tester("BehaviorTask")
tests/test_envs.py:60:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
tests/test_envs.py:37: in task_tester
env = og.Environment(configs=cfg)
omnigibson/utils/python_utils.py:92: in wrapper
func(*values.args, **values.kwargs)
omnigibson/envs/env_base.py:103: in __init__
og.launch(
omnigibson/simulator.py:249: in _launch_simulator
og.app = _launch_app()
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
def _launch_app():
log.setLevel(logging.DEBUG if gm.DEBUG else logging.INFO)
log.info(f"{'-' * 5} Starting {logo_small()}. This will take 10-30 seconds... {'-' * 5}")
# If multi_gpu is used, og.sim.render() will cause a segfault when called during on_contact callbacks,
# e.g. when an attachment joint is being created due to contacts (create_joint calls og.sim.render() internally).
gpu_id = None if gm.GPU_ID is None else int(gm.GPU_ID)
config_kwargs = {"headless": gm.HEADLESS or bool(gm.REMOTE_STREAMING), "multi_gpu": False}
if gpu_id is not None:
config_kwargs["active_gpu"] = gpu_id
config_kwargs["physics_gpu"] = gpu_id
# Omni's logging is super annoying and overly verbose, so suppress it by modifying the logging levels
if not gm.DEBUG:
import warnings
try:
from numba.core.errors import NumbaPerformanceWarning
warnings.simplefilter("ignore", category=NumbaPerformanceWarning)
except ImportError:
pass
# TODO: Find a more elegant way to prune omni logging
# sys.argv.append("--/log/level=warning")
# sys.argv.append("--/log/fileLogLevel=warning")
# sys.argv.append("--/log/outputStreamLevel=error")
# Try to import the isaacsim module that only shows up in Isaac Sim 4.0.0. This ensures that
# if we are using the pip installed version, all the ISAAC_PATH etc. env vars are set correctly.
# On the regular omniverse launcher version this should not have any impact.
try:
os.environ["OMNI_KIT_ACCEPT_EULA"] = "YES"
import isaacsim # noqa: F401
except ImportError:
pass
# First obtain the Isaac Sim version
isaac_path = os.environ["ISAAC_PATH"]
version_file_path = os.path.join(isaac_path, "VERSION")
assert os.path.exists(version_file_path), f"Isaac Sim version file not found at {version_file_path}"
with open(version_file_path, "r") as file:
version_content = file.read().strip()
isaac_version_str = version_content.split("-")[0]
isaac_version_tuple = tuple(map(int, isaac_version_str.split(".")[:3]))
> assert isaac_version_tuple in m.KIT_FILES, f"Isaac Sim version must be one of {list(m.KIT_FILES.keys())}"
E AssertionError: Isaac Sim version must be one of [(4, 5, 0)]
omnigibson/simulator.py:126: AssertionError
Check failure on line 0 in test_envs.xml
github-actions / Test Results
pytest ► tests.test_envs ► test_rs_int_full_load
Failed test found in:
test_envs.xml
Error:
def test_rs_int_full_load():
Raw output
def test_rs_int_full_load():
cfg = {
"scene": {
"type": "InteractiveTraversableScene",
"scene_model": "Rs_int",
},
"robots": [
{
"type": "Fetch",
"obs_modalities": [],
}
],
# Task kwargs
"task": {
"type": "DummyTask",
},
}
# Make sure sim is stopped
if og.sim:
og.sim.stop()
# Create the environment
> env = og.Environment(configs=cfg)
tests/test_envs.py:86:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
omnigibson/utils/python_utils.py:92: in wrapper
func(*values.args, **values.kwargs)
omnigibson/envs/env_base.py:103: in __init__
og.launch(
omnigibson/simulator.py:249: in _launch_simulator
og.app = _launch_app()
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
def _launch_app():
log.setLevel(logging.DEBUG if gm.DEBUG else logging.INFO)
log.info(f"{'-' * 5} Starting {logo_small()}. This will take 10-30 seconds... {'-' * 5}")
# If multi_gpu is used, og.sim.render() will cause a segfault when called during on_contact callbacks,
# e.g. when an attachment joint is being created due to contacts (create_joint calls og.sim.render() internally).
gpu_id = None if gm.GPU_ID is None else int(gm.GPU_ID)
config_kwargs = {"headless": gm.HEADLESS or bool(gm.REMOTE_STREAMING), "multi_gpu": False}
if gpu_id is not None:
config_kwargs["active_gpu"] = gpu_id
config_kwargs["physics_gpu"] = gpu_id
# Omni's logging is super annoying and overly verbose, so suppress it by modifying the logging levels
if not gm.DEBUG:
import warnings
try:
from numba.core.errors import NumbaPerformanceWarning
warnings.simplefilter("ignore", category=NumbaPerformanceWarning)
except ImportError:
pass
# TODO: Find a more elegant way to prune omni logging
# sys.argv.append("--/log/level=warning")
# sys.argv.append("--/log/fileLogLevel=warning")
# sys.argv.append("--/log/outputStreamLevel=error")
# Try to import the isaacsim module that only shows up in Isaac Sim 4.0.0. This ensures that
# if we are using the pip installed version, all the ISAAC_PATH etc. env vars are set correctly.
# On the regular omniverse launcher version this should not have any impact.
try:
os.environ["OMNI_KIT_ACCEPT_EULA"] = "YES"
import isaacsim # noqa: F401
except ImportError:
pass
# First obtain the Isaac Sim version
isaac_path = os.environ["ISAAC_PATH"]
version_file_path = os.path.join(isaac_path, "VERSION")
assert os.path.exists(version_file_path), f"Isaac Sim version file not found at {version_file_path}"
with open(version_file_path, "r") as file:
version_content = file.read().strip()
isaac_version_str = version_content.split("-")[0]
isaac_version_tuple = tuple(map(int, isaac_version_str.split(".")[:3]))
> assert isaac_version_tuple in m.KIT_FILES, f"Isaac Sim version must be one of {list(m.KIT_FILES.keys())}"
E AssertionError: Isaac Sim version must be one of [(4, 5, 0)]
omnigibson/simulator.py:126: AssertionError
Check failure on line 0 in test_multiple_envs.xml
github-actions / Test Results
pytest ► tests.test_multiple_envs ► test_multi_scene_dump_load_states
Failed test found in:
test_multiple_envs.xml
Error:
def test_multi_scene_dump_load_states():
Raw output
def test_multi_scene_dump_load_states():
> vec_env = setup_multi_environment(3)
tests/test_multiple_envs.py:45:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
tests/test_multiple_envs.py:40: in setup_multi_environment
vec_env = og.VectorEnvironment(num_of_envs, cfg)
omnigibson/envs/vec_env_base.py:16: in __init__
self.envs = [
omnigibson/envs/vec_env_base.py:17: in <listcomp>
og.Environment(configs=copy.deepcopy(config), in_vec_env=True)
omnigibson/utils/python_utils.py:92: in wrapper
func(*values.args, **values.kwargs)
omnigibson/envs/env_base.py:103: in __init__
og.launch(
omnigibson/simulator.py:249: in _launch_simulator
og.app = _launch_app()
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
def _launch_app():
log.setLevel(logging.DEBUG if gm.DEBUG else logging.INFO)
log.info(f"{'-' * 5} Starting {logo_small()}. This will take 10-30 seconds... {'-' * 5}")
# If multi_gpu is used, og.sim.render() will cause a segfault when called during on_contact callbacks,
# e.g. when an attachment joint is being created due to contacts (create_joint calls og.sim.render() internally).
gpu_id = None if gm.GPU_ID is None else int(gm.GPU_ID)
config_kwargs = {"headless": gm.HEADLESS or bool(gm.REMOTE_STREAMING), "multi_gpu": False}
if gpu_id is not None:
config_kwargs["active_gpu"] = gpu_id
config_kwargs["physics_gpu"] = gpu_id
# Omni's logging is super annoying and overly verbose, so suppress it by modifying the logging levels
if not gm.DEBUG:
import warnings
try:
from numba.core.errors import NumbaPerformanceWarning
warnings.simplefilter("ignore", category=NumbaPerformanceWarning)
except ImportError:
pass
# TODO: Find a more elegant way to prune omni logging
# sys.argv.append("--/log/level=warning")
# sys.argv.append("--/log/fileLogLevel=warning")
# sys.argv.append("--/log/outputStreamLevel=error")
# Try to import the isaacsim module that only shows up in Isaac Sim 4.0.0. This ensures that
# if we are using the pip installed version, all the ISAAC_PATH etc. env vars are set correctly.
# On the regular omniverse launcher version this should not have any impact.
try:
os.environ["OMNI_KIT_ACCEPT_EULA"] = "YES"
import isaacsim # noqa: F401
except ImportError:
pass
# First obtain the Isaac Sim version
isaac_path = os.environ["ISAAC_PATH"]
version_file_path = os.path.join(isaac_path, "VERSION")
assert os.path.exists(version_file_path), f"Isaac Sim version file not found at {version_file_path}"
with open(version_file_path, "r") as file:
version_content = file.read().strip()
isaac_version_str = version_content.split("-")[0]
isaac_version_tuple = tuple(map(int, isaac_version_str.split(".")[:3]))
> assert isaac_version_tuple in m.KIT_FILES, f"Isaac Sim version must be one of {list(m.KIT_FILES.keys())}"
E AssertionError: Isaac Sim version must be one of [(4, 5, 0)]
omnigibson/simulator.py:126: AssertionError
Check failure on line 0 in test_multiple_envs.xml
github-actions / Test Results
pytest ► tests.test_multiple_envs ► test_multi_scene_get_local_position
Failed test found in:
test_multiple_envs.xml
Error:
def test_multi_scene_get_local_position():
Raw output
def test_multi_scene_get_local_position():
> vec_env = setup_multi_environment(3)
tests/test_multiple_envs.py:106:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
tests/test_multiple_envs.py:40: in setup_multi_environment
vec_env = og.VectorEnvironment(num_of_envs, cfg)
omnigibson/envs/vec_env_base.py:16: in __init__
self.envs = [
omnigibson/envs/vec_env_base.py:17: in <listcomp>
og.Environment(configs=copy.deepcopy(config), in_vec_env=True)
omnigibson/utils/python_utils.py:92: in wrapper
func(*values.args, **values.kwargs)
omnigibson/envs/env_base.py:103: in __init__
og.launch(
omnigibson/simulator.py:249: in _launch_simulator
og.app = _launch_app()
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
def _launch_app():
log.setLevel(logging.DEBUG if gm.DEBUG else logging.INFO)
log.info(f"{'-' * 5} Starting {logo_small()}. This will take 10-30 seconds... {'-' * 5}")
# If multi_gpu is used, og.sim.render() will cause a segfault when called during on_contact callbacks,
# e.g. when an attachment joint is being created due to contacts (create_joint calls og.sim.render() internally).
gpu_id = None if gm.GPU_ID is None else int(gm.GPU_ID)
config_kwargs = {"headless": gm.HEADLESS or bool(gm.REMOTE_STREAMING), "multi_gpu": False}
if gpu_id is not None:
config_kwargs["active_gpu"] = gpu_id
config_kwargs["physics_gpu"] = gpu_id
# Omni's logging is super annoying and overly verbose, so suppress it by modifying the logging levels
if not gm.DEBUG:
import warnings
try:
from numba.core.errors import NumbaPerformanceWarning
warnings.simplefilter("ignore", category=NumbaPerformanceWarning)
except ImportError:
pass
# TODO: Find a more elegant way to prune omni logging
# sys.argv.append("--/log/level=warning")
# sys.argv.append("--/log/fileLogLevel=warning")
# sys.argv.append("--/log/outputStreamLevel=error")
# Try to import the isaacsim module that only shows up in Isaac Sim 4.0.0. This ensures that
# if we are using the pip installed version, all the ISAAC_PATH etc. env vars are set correctly.
# On the regular omniverse launcher version this should not have any impact.
try:
os.environ["OMNI_KIT_ACCEPT_EULA"] = "YES"
import isaacsim # noqa: F401
except ImportError:
pass
# First obtain the Isaac Sim version
isaac_path = os.environ["ISAAC_PATH"]
version_file_path = os.path.join(isaac_path, "VERSION")
assert os.path.exists(version_file_path), f"Isaac Sim version file not found at {version_file_path}"
with open(version_file_path, "r") as file:
version_content = file.read().strip()
isaac_version_str = version_content.split("-")[0]
isaac_version_tuple = tuple(map(int, isaac_version_str.split(".")[:3]))
> assert isaac_version_tuple in m.KIT_FILES, f"Isaac Sim version must be one of {list(m.KIT_FILES.keys())}"
E AssertionError: Isaac Sim version must be one of [(4, 5, 0)]
omnigibson/simulator.py:126: AssertionError
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