[MISC] Fix unit test failure on MacOS. (#2795)

Author: duburcqa

genesis/engine/sensors/kinematic_tactile.py

@@ -36,7 +36,7 @@
 @qd.func
 def _func_query_contact_depth_penetration(
     i_b: int,
-    probe_pos: gs.qd_vec3,
+    probe_pos,  # : gs.qd_vec3,
     probe_radius_gt: float,
     probe_radius_m: float,
     sensor_link_idx: int,
@@ -83,7 +83,7 @@ def _func_query_contact_depth_penetration(
 @qd.func
 def _func_query_contact_depth(
     i_b: int,
-    probe_pos: gs.qd_vec3,
+    probe_pos,  # : gs.qd_vec3,
     probe_radius_gt: float,
     probe_radius_m: float,
     sensor_link_idx: int,

genesis/engine/sensors/point_cloud_tactile.py

@@ -164,8 +164,8 @@ def _sample_track_links_point_cloud_tensors(
 
 
 @qd.func
-def _func_vec3_at(values: qd.types.ndarray(), i: int) -> gs.qd_vec3:
-    return qd.Vector([values[i, 0], values[i, 1], values[i, 2]], dt=gs.qd_float)
+def _func_vec3_at(values: qd.types.ndarray(), i: int):  # -> gs.qd_vec3:
+    return qd.Vector([values[i, 0], values[i, 1], values[i, 2]], dt=float)
 
 
 @qd.kernel
@@ -663,16 +663,16 @@ def _normalize_elastomer_probe_layout(
 @qd.func
 def _func_elastomer_min_sdf_over_active_geoms(
     i_b: int,
-    point_world: gs.qd_vec3,
+    point_world,  # : gs.qd_vec3,
     geom_start: int,
     geom_n: int,
     geom_idx: qd.types.ndarray(),
     geom_active_envs_mask: qd.types.ndarray(),
     geoms_state: array_class.GeomsState,
     geoms_info: array_class.GeomsInfo,
     sdf_info: array_class.SDFInfo,
-) -> gs.qd_float:
-    min_sdf = gs.qd_float(1.0e6)
+) -> float:
+    min_sdf = float(1.0e6)
     geom_end = geom_start + geom_n
     for i_gm in range(geom_start, geom_end):
         if not geom_active_envs_mask[i_gm, i_b]:
@@ -685,7 +685,10 @@ def _func_elastomer_min_sdf_over_active_geoms(
 
 
 @qd.func
-def _func_elastomer_tangent(vec: gs.qd_vec3, normal: gs.qd_vec3) -> gs.qd_vec3:
+def _func_elastomer_tangent(
+    vec,  # : gs.qd_vec3,
+    normal,  # : gs.qd_vec3
+):  # -> gs.qd_vec3:
     return vec - normal * vec.dot(normal)
 
 
@@ -709,10 +712,10 @@ def _func_elastomer_clear_surface_state(
 def _func_elastomer_update_surface_anchor(
     i_b: int,
     i_o: int,
-    sdf_value: gs.qd_float,
-    point_sensor: gs.qd_vec3,
-    sdf_enter: gs.qd_float,
-    sdf_exit: gs.qd_float,
+    sdf_value: float,
+    point_sensor,  # : gs.qd_vec3,
+    sdf_enter: float,
+    sdf_exit: float,
     surface_entry_pos_sensor_buf: qd.types.ndarray(),
     surface_initialized_buf: qd.types.ndarray(),
 ):
@@ -728,14 +731,14 @@ def _func_elastomer_update_surface_anchor(
 
 @qd.func
 def _func_elastomer_direct_dilate_contribution(
-    source_pos: gs.qd_vec3,
-    source_normal: gs.qd_vec3,
-    target_pos: gs.qd_vec3,
-    target_normal: gs.qd_vec3,
-    depth: gs.qd_float,
-    lam: gs.qd_float,
-    scale: gs.qd_float,
-) -> gs.qd_vec3:
+    source_pos,  # : gs.qd_vec3,
+    source_normal,  # : gs.qd_vec3,
+    target_pos,  # : gs.qd_vec3,
+    target_normal,  # : gs.qd_vec3,
+    depth: float,
+    lam: float,
+    scale: float,
+):  # -> gs.qd_vec3:
     source_contact_pos = source_pos - source_normal * depth
     diff = target_pos - source_contact_pos
     planar_diff = _func_elastomer_tangent(diff, target_normal)
@@ -744,15 +747,15 @@ def _func_elastomer_direct_dilate_contribution(
 
 @qd.func
 def _func_elastomer_direct_shear_contribution(
-    point_sensor: gs.qd_vec3,
-    entry_sensor: gs.qd_vec3,
-    probe_pos: gs.qd_vec3,
-    probe_normal: gs.qd_vec3,
-    depth: gs.qd_float,
-    lam: gs.qd_float,
-    scale: gs.qd_float,
+    point_sensor,  # : gs.qd_vec3,
+    entry_sensor,  # : gs.qd_vec3,
+    probe_pos,  # : gs.qd_vec3,
+    probe_normal,  # : gs.qd_vec3,
+    depth: float,
+    lam: float,
+    scale: float,
     eps: float,
-) -> gs.qd_vec3:
+):  # -> gs.qd_vec3:
     shear_disp = point_sensor - entry_sensor
     shear_tangent = _func_elastomer_tangent(shear_disp, probe_normal)
     contribution = qd.Vector.zero(gs.qd_float, 3)

genesis/engine/sensors/probe.py

@@ -17,7 +17,7 @@
 
 
 @qd.func
-def func_noised_probe_radius(probe_radius: gs.qd_float, probe_radius_noise: gs.qd_float) -> gs.qd_float:
+def func_noised_probe_radius(probe_radius: float, probe_radius_noise: float) -> float:
     radius = probe_radius
     if probe_radius_noise > gs.EPS:
         radius = qd.max(

genesis/engine/solvers/rigid/collider/utils.py

@@ -84,10 +84,10 @@ def func_det3(
 @qd.func
 def func_point_in_geom_aabb(
     geoms_state: array_class.GeomsState,
-    i_g: qd.i32,
-    i_b: qd.i32,
-    point: gs.qd_vec3,
-    expansion: gs.qd_float = 0.0,
+    i_g: int,
+    i_b: int,
+    point,  # : gs.qd_vec3,
+    expansion: float = 0.0,
 ):
     aabb_min = geoms_state.aabb_min[i_g, i_b] - expansion
     aabb_max = geoms_state.aabb_max[i_g, i_b] + expansion

genesis/utils/image_exporter.py

@@ -145,7 +145,7 @@ def export_frame_single_camera(
         executor: Executor | None = None,
     ):
         """
-        Export multiple frames from a single camera but different environments in parrallel as PNG files.
+        Export multiple frames from a single camera but different environments in parallel as PNG files.
 
         Parameters
         ----------

genesis/utils/raycast_qd.py

@@ -46,17 +46,17 @@ def get_triangle_vertices(
 
 @qd.func
 def bvh_ray_cast(
-    ray_start,
-    ray_dir,
-    max_range,
-    i_b,
+    ray_start,  # : gs.qd_vec3,
+    ray_dir,  # : gs.qd_vec3,
+    max_range: float,
+    i_b: int,
     bvh_nodes: qd.template(),
     bvh_morton_codes: qd.template(),
     faces_info: array_class.FacesInfo,
     verts_info: array_class.VertsInfo,
     fixed_verts_state: array_class.VertsState,
     free_verts_state: array_class.VertsState,
-    eps,
+    eps: float,
 ):
     """
     Cast a ray through a BVH and find the closest intersection.
@@ -124,11 +124,11 @@ def bvh_ray_cast(
 
 @qd.func
 def ray_triangle_intersection(
-    ray_start: gs.qd_vec3,
-    ray_dir: gs.qd_vec3,
-    v0: gs.qd_vec3,
-    v1: gs.qd_vec3,
-    v2: gs.qd_vec3,
+    ray_start,  # : gs.qd_vec3,
+    ray_dir,  # : gs.qd_vec3,
+    v0,  # : gs.qd_vec3,
+    v1,  # : gs.qd_vec3,
+    v2,  # : gs.qd_vec3,
     eps: float,
 ):
     """
@@ -193,10 +193,10 @@ def ray_triangle_intersection(
 
 @qd.func
 def ray_aabb_intersection(
-    ray_start: gs.qd_vec3,
-    ray_dir: gs.qd_vec3,
-    aabb_min: gs.qd_vec3,
-    aabb_max: gs.qd_vec3,
+    ray_start,  # : gs.qd_vec3,
+    ray_dir,  # : gs.qd_vec3,
+    aabb_min,  # : gs.qd_vec3,
+    aabb_max,  # : gs.qd_vec3,
     eps: float,
 ):
     """

tests/test_rigid_physics.py

@@ -5747,7 +5747,7 @@ def test_heterogeneous_articulated_structure_mismatch():
 
 
 @pytest.mark.required
-@pytest.mark.xfail(reason="autodiff: non-static range unsupported by Quadrants reverse-mode AD", strict=False)
+@pytest.mark.xfail(reason="QuadrantsSyntaxError caused by dataclass argument parsing.")
 @pytest.mark.parametrize("performance_mode", [True])
 def test_hibernation_and_contact_islands(show_viewer):
     """

tests/test_viewer.py

@@ -32,7 +32,6 @@ def wait_for_viewer_events(viewer, condition_fn, timeout=300.0, sleep_interval=0
 
 @pytest.mark.required
 @pytest.mark.skipif(not IS_INTERACTIVE_VIEWER_AVAILABLE, reason=SKIP_NO_VIEWER)
-@pytest.mark.xfail(sys.platform == "win32", raises=OpenGL.error.Error, reason="Invalid OpenGL context.")
 def test_interactive_viewer_disable_viewer_defaults():
     """Test that keyboard shortcuts can be disabled in the interactive viewer."""