[BUG FIX] dim error in pos_lookat_up_to_T()

[Kashu7100]

Description

Related Issue

Resolves Genesis-Embodied-AI/Genesis#

Motivation and Context

There was dim bug in geom.py

File "/home/kashu/research/Genesis/genesis/vis/camera.py", line 457, in set_pose
    self._transform = gu.pos_lookat_up_to_T(self._pos, self._lookat, self._up)
  File "/home/kashu/research/Genesis/genesis/utils/geom.py", line 1190, in pos_lookat_up_to_T
    z_up_to_R(z, up=up, out=T[:3, :3])
  File "/home/kashu/miniconda3/envs/genesis/lib/python3.10/site-packages/numba/core/dispatcher.py", line 424, in _compile_for_args
    error_rewrite(e, 'typing')
  File "/home/kashu/miniconda3/envs/genesis/lib/python3.10/site-packages/numba/core/dispatcher.py", line 365, in error_rewrite
    raise e.with_traceback(None)
numba.core.errors.TypingError: Failed in nopython mode pipeline (step: nopython frontend)
Cannot unify array(float32, 3d, C) and array(float32, 2d, A) for 'out_.2', defined at /home/kashu/research/Genesis/genesis/utils/geom.py (1148)

File "../../../Genesis/genesis/utils/geom.py", line 1148:
def z_up_to_R(z, up=None, out=None):
    <source elided>

    z_norm = np.sqrt(np.sum(np.square(z.reshape((-1, 3))), -1)).reshape(B)
    ^

During: typing of assignment at /home/kashu/research/Genesis/genesis/utils/geom.py (1148)

File "../../../Genesis/genesis/utils/geom.py", line 1148:
def z_up_to_R(z, up=None, out=None):
    <source elided>

    z_norm = np.sqrt(np.sum(np.square(z.reshape((-1, 3))), -1)).reshape(B)
    ^

During: Pass nopython_type_inference

[Genesis] [14:22:00] [ERROR] TypingError: Failed in nopython mode pipeline (step: nopython frontend)
Cannot unify array(float32, 3d, C) and array(float32, 2d, A) for 'out_.2', defined at /home/kashu/research/Genesis/genesis/utils/geom.py (1148)

File "../../../Genesis/genesis/utils/geom.py", line 1148:
def z_up_to_R(z, up=None, out=None):
    <source elided>

    z_norm = np.sqrt(np.sum(np.square(z.reshape((-1, 3))), -1)).reshape(B)
    ^

During: typing of assignment at /home/kashu/research/Genesis/genesis/utils/geom.py (1148)

File "../../../Genesis/genesis/utils/geom.py", line 1148:
def z_up_to_R(z, up=None, out=None):
    <source elided>

    z_norm = np.sqrt(np.sum(np.square(z.reshape((-1, 3))), -1)).reshape(B)
    ^

During: Pass nopython_type_inference

How Has This Been / Can This Be Tested?

Screenshots (if appropriate):

Checklist:

• I read the CONTRIBUTING document.
• I followed the Submitting Code Changes section of CONTRIBUTING document.
• I tagged the title correctly (including BUG FIX/FEATURE/MISC/BREAKING)
• I updated the documentation accordingly or no change is needed.
• I tested my changes and added instructions on how to test it for reviewers.

• I have added tests to cover my changes.
• All new and existing tests passed.

[YilingQiao]

In what scenarios whould z have ndim == 2? Why would lookup and pos have ndim == 2?

[duburcqa]

Yes. I don't like this "fix". We should be careful to make sure it does not break anything.