change solver position iteration to 32, fix tests

StanfordVL · Mar 11, 2024 · dead569 · dead569
1 parent d7e1b2e
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diff --git a/omnigibson/objects/object_base.py b/omnigibson/objects/object_base.py
@@ -29,7 +29,7 @@
 m.HIGHLIGHT_INTENSITY = 10000.0             # Highlight intensity to apply, range [0, 10000)
 
 # Physics settings for objects -- see https://nvidia-omniverse.github.io/PhysX/physx/5.3.1/docs/RigidBodyDynamics.html?highlight=velocity%20iteration#solver-iterations
-m.DEFAULT_SOLVER_POSITION_ITERATIONS = 16
+m.DEFAULT_SOLVER_POSITION_ITERATIONS = 32
 m.DEFAULT_SOLVER_VELOCITY_ITERATIONS = 1
 
 class BaseObject(EntityPrim, Registerable, metaclass=ABCMeta):

diff --git a/tests/test_object_states.py b/tests/test_object_states.py
@@ -632,8 +632,8 @@ def test_toggled_on():
     stove = og.sim.scene.object_registry("name", "stove")
     robot = og.sim.scene.object_registry("name", "robot0")
 
-    stove.set_position_orientation([1.46, 0.3, 0.45], T.euler2quat([0, 0, -np.pi / 2.0]))
-    robot.set_position_orientation([0.0, 0.38, 0.01], [0, 0, 0, 1])
+    stove.set_position_orientation([1.48, 0.3, 0.443], T.euler2quat([0, 0, -np.pi / 2.0]))
+    robot.set_position_orientation([0.0, 0.38, 0.0], [0, 0, 0, 1])
 
     assert not stove.states[ToggledOn].get_value()