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OmniGibson
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Fix non primitive related tests and update dependency packages

This commit is contained in:
Chengshu Li 2024-01-10 11:06:31 -08:00
parent bbd5aa5cf8
commit ae24fe8733
3 changed files with 6 additions and 5 deletions
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3
omnigibson/systems/micro_particle_system.py
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@ -1568,7 +1568,7 @@ class Cloth(MicroParticleSystem):
if avg_edge_percentage_mismatch <= m.CLOTH_REMESHING_ERROR_THRESHOLD:
break
ms.meshing_isotropic_explicit_remeshing(iterations=5, targetlen=pymeshlab.AbsoluteValue(particle_distance))
ms.meshing_isotropic_explicit_remeshing(iterations=5, adaptive=True, targetlen=pymeshlab.PureValue(particle_distance))
avg_edge_percentage_mismatch = abs(1.0 - particle_distance / ms.get_geometric_measures()["avg_edge_length"])
else:
# Terminate anyways, but don't fail
@ -1579,6 +1579,7 @@ class Cloth(MicroParticleSystem):
if cm.vertex_number() > m.MAX_CLOTH_PARTICLES:
# We have too many vertices, so we will re-mesh again
particle_distance *= np.sqrt(2) # halve the number of vertices
log.warn(f"Too many vertices ({cm.vertex_number()})! Re-meshing with particle distance {particle_distance}...")
else:
break
else:

4
setup.py
View File

@ -28,7 +28,7 @@ setup(
"networkx~=3.2.1",
"PyYAML~=6.0.1",
"addict~=2.4.0",
"ipython~=8.19.0",
"ipython~=8.20.0",
"future~=0.18.3",
"trimesh~=4.0.8",
"h5py~=3.10.0",
@ -40,7 +40,7 @@ setup(
"imageio-ffmpeg~=0.4.9",
"termcolor~=2.4.0",
"progressbar~=2.5",
"pymeshlab~=2022.2",
"pymeshlab~=2023.12",
"click~=8.1.7",
"aenum~=3.1.15",
],

4
tests/test_object_states.py
View File

@ -639,8 +639,8 @@ def test_toggled_on():
assert not stove.states[ToggledOn].get_value()
robot.joints["torso_lift_joint"].set_pos(0.0)
robot.joints["shoulder_pan_joint"].set_pos(0.0)
robot.joints["shoulder_lift_joint"].set_pos(np.pi / 15)
robot.joints["shoulder_pan_joint"].set_pos(np.deg2rad(90.0))
robot.joints["shoulder_lift_joint"].set_pos(np.deg2rad(8.0))
robot.joints["upperarm_roll_joint"].set_pos(0.0)
robot.joints["elbow_flex_joint"].set_pos(0.0)
robot.joints["forearm_roll_joint"].set_pos(0.0)