From dead5693568a80abaafb54e542ef1cef2f0dd77b Mon Sep 17 00:00:00 2001 From: Chengshu Li Date: Mon, 11 Mar 2024 15:08:45 -0700 Subject: [PATCH] change solver position iteration to 32, fix tests --- omnigibson/objects/object_base.py | 2 +- tests/test_object_states.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/omnigibson/objects/object_base.py b/omnigibson/objects/object_base.py index 04710ddac..d9cea7cd6 100644 --- 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 index 43565be58..ab9faa268 100644 --- 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()