Merge pull request #623 from StanfordVL/fix/melt-dt

Change default physics and render fps to 120 and 30; Fix minor bug in MeltingRule.

omnigibson/envs/env_base.py

@@ -700,8 +700,8 @@ def default_config(self):
         return {
             # Environment kwargs
             "env": {
-                "action_frequency": 60,
-                "physics_frequency": 60,
+                "action_frequency": 30,
+                "physics_frequency": 120,
                 "device": None,
                 "automatic_reset": False,
                 "flatten_action_space": False,

omnigibson/examples/robots/robot_control_example.py

@@ -75,7 +75,7 @@ def main(random_selection=False, headless=False, short_exec=False):
     # Create the config for generating the environment we want
     env_cfg = dict()
     env_cfg["action_frequency"] = 10
-    env_cfg["physics_frequency"] = 60
+    env_cfg["physics_frequency"] = 120
 
     scene_cfg = dict()
     if scene_model == "empty":

omnigibson/simulator.py

@@ -163,10 +163,10 @@ class Simulator(lazy.omni.isaac.core.simulation_context.SimulationContext, Seria
 
         Args:
             gravity (float): gravity on z direction.
-            physics_dt (float): dt between physics steps. Defaults to 1.0 / 60.0.
+            physics_dt (float): dt between physics steps. Defaults to 1.0 / 120.0.
             rendering_dt (float): dt between rendering steps. Note: rendering means rendering a frame of the current
                 application and not only rendering a frame to the viewports/ cameras. So UI elements of Isaac Sim will
-                be refreshed with this dt as well if running non-headless. Defaults to 1.0 / 60.0.
+                be refreshed with this dt as well if running non-headless. Defaults to 1.0 / 30.0.
             stage_units_in_meters (float): The metric units of assets. This will affect gravity value..etc.
                 Defaults to 0.01.
             viewer_width (int): width of the camera image, in pixels
@@ -178,8 +178,8 @@ class Simulator(lazy.omni.isaac.core.simulation_context.SimulationContext, Seria
         def __init__(
                 self,
                 gravity=9.81,
-                physics_dt=1.0 / 60.0,
-                rendering_dt=1.0 / 60.0,
+                physics_dt=1.0 / 120.0,
+                rendering_dt=1.0 / 30.0,
                 stage_units_in_meters=1.0,
                 viewer_width=gm.DEFAULT_VIEWER_WIDTH,
                 viewer_height=gm.DEFAULT_VIEWER_HEIGHT,
@@ -254,8 +254,8 @@ def __init__(
         def __new__(
             cls,
             gravity=9.81,
-            physics_dt=1.0 / 60.0,
-            rendering_dt=1.0 / 60.0,
+            physics_dt=1.0 / 120.0,
+            rendering_dt=1.0 / 30.0,
             stage_units_in_meters=1.0,
             viewer_width=gm.DEFAULT_VIEWER_WIDTH,
             viewer_height=gm.DEFAULT_VIEWER_HEIGHT,
@@ -1194,12 +1194,12 @@ def _open_new_stage(self):
 
             # Store physics dt and rendering dt to reuse later
             # Note that the stage may have been deleted previously; if so, we use the default values
-            # of 1/60, 1/60
+            # of 1/120, 1/30
             try:
                 physics_dt = self.get_physics_dt()
             except:
-                print("WARNING: Invalid or non-existent physics scene found. Setting physics dt to 1/60.")
-                physics_dt = 1 / 60.
+                print("WARNING: Invalid or non-existent physics scene found. Setting physics dt to 1/120.")
+                physics_dt = 1 / 120.
             rendering_dt = self.get_rendering_dt()
 
             # Open new stage -- suppressing warning that we're opening a new stage
@@ -1230,12 +1230,12 @@ def _load_stage(self, usd_path):
 
             # Store physics dt and rendering dt to reuse later
             # Note that the stage may have been deleted previously; if so, we use the default values
-            # of 1/60, 1/60
+            # of 1/120, 1/30
             try:
                 physics_dt = self.get_physics_dt()
             except:
-                print("WARNING: Invalid or non-existent physics scene found. Setting physics dt to 1/60.")
-                physics_dt = 1/60.
+                print("WARNING: Invalid or non-existent physics scene found. Setting physics dt to 1/120.")
+                physics_dt = 1/120.
             rendering_dt = self.get_rendering_dt()
 
             # Open new stage -- suppressing warning that we're opening a new stage

omnigibson/transition_rules.py

@@ -1011,7 +1011,10 @@ def transition(cls, object_candidates):
 
         # Convert the meltable object into its melted substance
         for meltable_obj in object_candidates["meltable"]:
-            system = get_system(f"melted__{meltable_obj.category}")
+            # All meltable xyz, half_xyz and diced__xyz transform into melted__xyz
+            root_category = meltable_obj.category.removeprefix("half_").removeprefix("diced__")
+            system_name = f"melted__{root_category}"
+            system = get_system(system_name)
             system.generate_particles_from_link(meltable_obj, meltable_obj.root_link, check_contact=False, use_visual_meshes=False)
 
             # Delete original object from stage.

tests/benchmark/profiling.py

@@ -46,8 +46,8 @@ def main():
 
     cfg = {
         "env": {
-            "action_frequency": 60,
-            "physics_frequency": 300,
+            "action_frequency": 30,
+            "physics_frequency": 120,
         }
     }
     if args.robot > 0:

tests/test_object_states.py

@@ -633,15 +633,15 @@ def test_toggled_on():
     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([0.01, 0.38, 0.01], [0, 0, 0, 1])
+    robot.set_position_orientation([0.0, 0.38, 0.01], [0, 0, 0, 1])
 
     assert not stove.states[ToggledOn].get_value()
 
     q = robot.get_joint_positions()
     jnt_idxs = {name: i for i, name in enumerate(robot.joints.keys())}
     q[jnt_idxs["torso_lift_joint"]] = 0.0
     q[jnt_idxs["shoulder_pan_joint"]] = np.deg2rad(90.0)
-    q[jnt_idxs["shoulder_lift_joint"]] = np.deg2rad(8.0)
+    q[jnt_idxs["shoulder_lift_joint"]] = np.deg2rad(9.0)
     q[jnt_idxs["upperarm_roll_joint"]] = 0.0
     q[jnt_idxs["elbow_flex_joint"]] = 0.0
     q[jnt_idxs["forearm_roll_joint"]] = 0.0
@@ -1147,12 +1147,10 @@ def test_covered():
                     og.sim.step()
 
                 assert obj.states[Covered].set_value(system, True)
-                for _ in range(10):
-                    og.sim.step()
+                og.sim.step()
                 assert obj.states[Covered].get_value(system)
 
                 assert obj.states[Covered].set_value(system, False)
-
                 # We don't call og.sim.step() here because it's possible for the "second" layer of particles to fall down
                 # and make Covered to be True again. Instead, we clear the caches and check that Covered is False.
                 obj.states[Covered].clear_cache()