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fix various tests for the latest dataset

This commit is contained in:
Chengshu Li 2024-02-29 21:05:13 -08:00
parent 39216077c2
commit aaccfdef53
2 changed files with 60 additions and 58 deletions
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4
tests/test_object_states.py
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@ -1133,10 +1133,10 @@ def test_contains():
@og_test
def test_covered():
bracelet = og.sim.scene.object_registry("name", "bracelet")
oyster = og.sim.scene.object_registry("name", "oyster")
bowl = og.sim.scene.object_registry("name", "bowl")
microwave = og.sim.scene.object_registry("name", "microwave")
systems = [get_system(system_name) for system_name, system_class in SYSTEM_EXAMPLES.items()]
for obj in (bracelet, oyster, microwave):
for obj in (bracelet, bowl, microwave):
for system in systems:
# bracelet is too small to sample physical particles on it
sampleable = is_visual_particle_system(system.name) or obj != bracelet

114
tests/test_transition_rules.py
View File

@ -64,6 +64,7 @@ def test_dryer_rule():
@og_test
def test_washer_rule():
assert len(REGISTERED_RULES) > 0, "No rules registered!"
baking_sheet = og.sim.scene.object_registry("name", "baking_sheet")
washer = og.sim.scene.object_registry("name", "washer")
remover_dishtowel = og.sim.scene.object_registry("name", "remover_dishtowel")
bowl = og.sim.scene.object_registry("name", "bowl")
@ -79,8 +80,10 @@ def test_washer_rule():
og.sim.step()
# Place the two objects inside the washer
remover_dishtowel.set_position_orientation([0.0, 0.0, 0.03], [0, 0, 0, 1])
bowl.set_position_orientation([0.10, 0.0, 0.06], [0, 0, 0, 1])
# (Hacky) use baking_sheet as a stepping stone to elevate the objects so that they are inside the container volume.
baking_sheet.set_position_orientation([0.0, 0.0, 0.04], R.from_euler("xyz", [np.pi, 0, 0]).as_quat())
remover_dishtowel.set_position_orientation([0.0, 0.0, 0.05], [0, 0, 0, 1])
bowl.set_position_orientation([0.10, 0.0, 0.08], [0, 0, 0, 1])
og.sim.step()
assert bowl.states[Covered].set_value(dust, True)
@ -89,7 +92,6 @@ def test_washer_rule():
assert bowl.states[Covered].set_value(spray_paint, True)
assert bowl.states[Covered].set_value(acetone, True)
assert bowl.states[Covered].set_value(cooking_oil, True)
assert not remover_dishtowel.states[Saturated].get_value(water)
assert not bowl.states[Covered].get_value(water)
@ -423,7 +425,7 @@ def test_mixing_rule_failure_recipe_systems():
assert lemonade.n_particles == 0
assert sludge.n_particles == 0
tablespoon.set_position_orientation([0.04, 0.0, 0.09], [0, 0, 0, 1])
tablespoon.set_position_orientation([0.04, 0.0, 0.11], [0, 0, 0, 1])
og.sim.step()
assert tablespoon.states[Touching].get_value(bowl)
@ -466,7 +468,7 @@ def test_mixing_rule_failure_nonrecipe_systems():
assert lemonade.n_particles == 0
assert sludge.n_particles == 0
tablespoon.set_position_orientation([0.04, 0.0, 0.09], [0, 0, 0, 1])
tablespoon.set_position_orientation([0.04, 0.0, 0.11], [0, 0, 0, 1])
og.sim.step()
assert tablespoon.states[Touching].get_value(bowl)
@ -505,7 +507,7 @@ def test_mixing_rule_success():
assert lemonade.n_particles == 0
tablespoon.set_position_orientation([0.04, 0.0, 0.09], [0, 0, 0, 1])
tablespoon.set_position_orientation([0.04, 0.0, 0.11], [0, 0, 0, 1])
og.sim.step()
assert tablespoon.states[Touching].get_value(bowl)
@ -541,11 +543,11 @@ def test_cooking_system_rule_failure_recipe_systems():
chicken.set_position_orientation([-0.24, 0.11, 0.87], [0, 0, 0, 1])
# This fails the recipe because chicken broth (recipe system) is not in the stockpot
chicken_broth.generate_particles(positions=[[-0.33, 0.05, 1.95]])
diced_carrot.generate_particles(positions=[[-0.28, 0.05, 0.95]])
diced_celery.generate_particles(positions=[[-0.23, 0.05, 0.95]])
salt.generate_particles(positions=[[-0.33, 0.15, 0.95]])
rosemary.generate_particles(positions=[[-0.28, 0.15, 0.95]])
chicken_broth.generate_particles(positions=[[-0.33, 0.05, 1.94]])
diced_carrot.generate_particles(positions=[[-0.28, 0.05, 0.94]])
diced_celery.generate_particles(positions=[[-0.23, 0.05, 0.94]])
salt.generate_particles(positions=[[-0.33, 0.15, 0.94]])
rosemary.generate_particles(positions=[[-0.28, 0.15, 0.94]])
og.sim.step()
assert chicken.states[Inside].get_value(stockpot)
@ -596,12 +598,12 @@ def test_cooking_system_rule_failure_nonrecipe_systems():
chicken.set_position_orientation([-0.24, 0.11, 0.87], [0, 0, 0, 1])
# This fails the recipe because water (nonrecipe system) is inside the stockpot
water.generate_particles(positions=[[-0.24, 0.11, 0.95]])
chicken_broth.generate_particles(positions=[[-0.33, 0.05, 0.95]])
diced_carrot.generate_particles(positions=[[-0.28, 0.05, 0.95]])
diced_celery.generate_particles(positions=[[-0.23, 0.05, 0.95]])
salt.generate_particles(positions=[[-0.33, 0.15, 0.95]])
rosemary.generate_particles(positions=[[-0.28, 0.15, 0.95]])
water.generate_particles(positions=[[-0.24, 0.11, 0.94]])
chicken_broth.generate_particles(positions=[[-0.33, 0.05, 0.94]])
diced_carrot.generate_particles(positions=[[-0.28, 0.05, 0.94]])
diced_celery.generate_particles(positions=[[-0.23, 0.05, 0.94]])
salt.generate_particles(positions=[[-0.33, 0.15, 0.94]])
rosemary.generate_particles(positions=[[-0.28, 0.15, 0.94]])
og.sim.step()
assert chicken.states[Inside].get_value(stockpot)
@ -654,12 +656,12 @@ def test_cooking_system_rule_failure_nonrecipe_objects():
chicken.set_position_orientation([-0.24, 0.11, 0.87], [0, 0, 0, 1])
# This fails the recipe because the bowl (nonrecipe object) is inside the stockpot
bowl.set_position_orientation([-0.23, 0.15, 1], [0, 0, 0, 1])
chicken_broth.generate_particles(positions=[[-0.33, 0.05, 0.95]])
diced_carrot.generate_particles(positions=[[-0.28, 0.05, 0.95]])
diced_celery.generate_particles(positions=[[-0.23, 0.05, 0.95]])
salt.generate_particles(positions=[[-0.33, 0.15, 0.95]])
rosemary.generate_particles(positions=[[-0.28, 0.15, 0.95]])
bowl.set_position_orientation([-0.20, 0.15, 1], [0, 0, 0, 1])
chicken_broth.generate_particles(positions=[[-0.33, 0.05, 0.94]])
diced_carrot.generate_particles(positions=[[-0.28, 0.05, 0.94]])
diced_celery.generate_particles(positions=[[-0.23, 0.05, 0.94]])
salt.generate_particles(positions=[[-0.33, 0.15, 0.94]])
rosemary.generate_particles(positions=[[-0.28, 0.15, 0.94]])
og.sim.step()
assert chicken.states[Inside].get_value(stockpot)
@ -713,11 +715,11 @@ def test_cooking_system_rule_success():
assert stockpot.states[OnTop].get_value(stove)
chicken.set_position_orientation([-0.24, 0.11, 0.87], [0, 0, 0, 1])
chicken_broth.generate_particles(positions=[[-0.33, 0.05, 0.95]])
diced_carrot.generate_particles(positions=[[-0.28, 0.05, 0.95]])
diced_celery.generate_particles(positions=[[-0.23, 0.05, 0.95]])
salt.generate_particles(positions=[[-0.33, 0.15, 0.95]])
rosemary.generate_particles(positions=[[-0.28, 0.15, 0.95]])
chicken_broth.generate_particles(positions=[[-0.33, 0.05, 0.94]])
diced_carrot.generate_particles(positions=[[-0.28, 0.05, 0.94]])
diced_celery.generate_particles(positions=[[-0.23, 0.05, 0.94]])
salt.generate_particles(positions=[[-0.33, 0.15, 0.94]])
rosemary.generate_particles(positions=[[-0.28, 0.15, 0.94]])
og.sim.step()
assert chicken.states[Inside].get_value(stockpot)
@ -1140,8 +1142,8 @@ def test_single_toggleable_machine_rule_output_system_failure_recipe_systems():
og.sim.step()
# This fails the recipe because it requires the milk to be in the blender
milk.generate_particles(positions=np.array([[0.02, 0, 1.49]]))
chocolate_sauce.generate_particles(positions=np.array([[0, -0.02, 0.49]]))
milk.generate_particles(positions=np.array([[0.02, 0, 1.57]]))
chocolate_sauce.generate_particles(positions=np.array([[0, -0.02, 0.57]]))
ice_cream.set_position_orientation([0, 0, 0.51], [0, 0, 0, 1])
og.sim.step()
@ -1183,8 +1185,8 @@ def test_single_toggleable_machine_rule_output_system_failure_recipe_objects():
place_obj_on_floor_plane(blender)
og.sim.step()
milk.generate_particles(positions=np.array([[0.02, 0, 0.49]]))
chocolate_sauce.generate_particles(positions=np.array([[0, -0.02, 0.49]]))
milk.generate_particles(positions=np.array([[0.02, 0, 0.57]]))
chocolate_sauce.generate_particles(positions=np.array([[0, -0.02, 0.57]]))
# This fails the recipe because it requires the ice cream to be inside the blender
ice_cream.set_position_orientation([0, 0, 1.51], [0, 0, 0, 1])
@ -1226,11 +1228,11 @@ def test_single_toggleable_machine_rule_output_system_failure_nonrecipe_systems(
place_obj_on_floor_plane(blender)
og.sim.step()
milk.generate_particles(positions=np.array([[0.02, 0, 0.49]]))
chocolate_sauce.generate_particles(positions=np.array([[0, -0.02, 0.49]]))
milk.generate_particles(positions=np.array([[0.02, 0, 0.57]]))
chocolate_sauce.generate_particles(positions=np.array([[0, -0.02, 0.57]]))
# This fails the recipe because water (nonrecipe system) is in the blender
water.generate_particles(positions=np.array([[0, 0, 0.49]]))
ice_cream.set_position_orientation([0, 0, 0.54], [0, 0, 0, 1])
water.generate_particles(positions=np.array([[0, 0, 0.57]]))
ice_cream.set_position_orientation([0, 0, 0.51], [0, 0, 0, 1])
og.sim.step()
@ -1276,8 +1278,8 @@ def test_single_toggleable_machine_rule_output_system_failure_nonrecipe_objects(
place_obj_on_floor_plane(blender)
og.sim.step()
milk.generate_particles(positions=np.array([[0.02, 0, 0.49]]))
chocolate_sauce.generate_particles(positions=np.array([[0, -0.02, 0.49]]))
milk.generate_particles(positions=np.array([[0.02, 0, 0.57]]))
chocolate_sauce.generate_particles(positions=np.array([[0, -0.02, 0.57]]))
ice_cream.set_position_orientation([0, 0, 0.51], [0, 0, 0, 1])
# This fails the recipe because the bowl (nonrecipe object) is in the blender
bowl.set_position_orientation([0, 0, 0.58], [0, 0, 0, 1])
@ -1324,8 +1326,8 @@ def test_single_toggleable_machine_rule_output_system_success():
place_obj_on_floor_plane(blender)
og.sim.step()
milk.generate_particles(positions=np.array([[0.02, 0, 0.49]]))
chocolate_sauce.generate_particles(positions=np.array([[0, -0.02, 0.49]]))
milk.generate_particles(positions=np.array([[0.02, 0, 0.57]]))
chocolate_sauce.generate_particles(positions=np.array([[0, -0.02, 0.57]]))
ice_cream.set_position_orientation([0, 0, 0.51], [0, 0, 0, 1])
og.sim.step()
@ -1378,14 +1380,14 @@ def test_single_toggleable_machine_rule_output_object_failure_unary_states():
place_obj_on_floor_plane(electric_mixer)
og.sim.step()
another_raw_egg.set_position_orientation([-0.01, -0.14, 0.40], [0, 0, 0, 1])
raw_egg.set_position_orientation([-0.01, -0.14, 0.37], [0, 0, 0, 1])
flour.generate_particles(positions=np.array([[-0.01, -0.15, 0.33]]))
granulated_sugar.generate_particles(positions=np.array([[0.01, -0.15, 0.33]]))
vanilla.generate_particles(positions=np.array([[0.03, -0.15, 0.33]]))
melted_butter.generate_particles(positions=np.array([[-0.01, -0.13, 0.33]]))
baking_powder.generate_particles(positions=np.array([[0.01, -0.13, 0.33]]))
salt.generate_particles(positions=np.array([[0.03, -0.13, 0.33]]))
another_raw_egg.set_position_orientation([-0.01, -0.14, 0.50], [0, 0, 0, 1])
raw_egg.set_position_orientation([-0.01, -0.14, 0.47], [0, 0, 0, 1])
flour.generate_particles(positions=np.array([[-0.01, -0.15, 0.43]]))
granulated_sugar.generate_particles(positions=np.array([[0.01, -0.15, 0.43]]))
vanilla.generate_particles(positions=np.array([[0.03, -0.15, 0.43]]))
melted_butter.generate_particles(positions=np.array([[-0.01, -0.13, 0.43]]))
baking_powder.generate_particles(positions=np.array([[0.01, -0.13, 0.43]]))
salt.generate_particles(positions=np.array([[0.03, -0.13, 0.43]]))
# This fails the recipe because the egg should not be cooked
raw_egg.states[Cooked].set_value(True)
og.sim.step()
@ -1451,14 +1453,14 @@ def test_single_toggleable_machine_rule_output_object_success():
place_obj_on_floor_plane(electric_mixer)
og.sim.step()
another_raw_egg.set_position_orientation([-0.01, -0.14, 0.40], [0, 0, 0, 1])
raw_egg.set_position_orientation([-0.01, -0.14, 0.37], [0, 0, 0, 1])
flour.generate_particles(positions=np.array([[-0.01, -0.15, 0.33]]))
granulated_sugar.generate_particles(positions=np.array([[0.01, -0.15, 0.33]]))
vanilla.generate_particles(positions=np.array([[0.03, -0.15, 0.33]]))
melted_butter.generate_particles(positions=np.array([[-0.01, -0.13, 0.33]]))
baking_powder.generate_particles(positions=np.array([[0.01, -0.13, 0.33]]))
salt.generate_particles(positions=np.array([[0.03, -0.13, 0.33]]))
another_raw_egg.set_position_orientation([-0.01, -0.14, 0.50], [0, 0, 0, 1])
raw_egg.set_position_orientation([-0.01, -0.14, 0.47], [0, 0, 0, 1])
flour.generate_particles(positions=np.array([[-0.01, -0.15, 0.43]]))
granulated_sugar.generate_particles(positions=np.array([[0.01, -0.15, 0.43]]))
vanilla.generate_particles(positions=np.array([[0.03, -0.15, 0.43]]))
melted_butter.generate_particles(positions=np.array([[-0.01, -0.13, 0.43]]))
baking_powder.generate_particles(positions=np.array([[0.01, -0.13, 0.43]]))
salt.generate_particles(positions=np.array([[0.03, -0.13, 0.43]]))
og.sim.step()