Fixes the rigid body tests #1345
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Dhoeller19
requested review from
Mayankm96,
jsmith-bdai and
kellyguo11
as code owners
jsmith-bdai
approved these changes
Oct 30, 2024
| cfg = sim_utils.GroundPlaneCfg( | ||
| physics_material=materials.RigidBodyMaterialCfg( | ||
| static_friction=static_friction_coefficient, | ||
| dynamic_friction=static_friction_coefficient, |
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Can we add a small comment on why this is necessary?
Suggested change
| dynamic_friction=static_friction_coefficient, | |
| dynamic_friction=static_friction_coefficient, # This shouldn't be required but is due to a bug in PhysX |
| # Play sim | ||
| sim.reset() | ||
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| # Set static friction to be non-zero |
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Suggested change
| # Set static friction to be non-zero | |
| # Set static friction to be non-zero | |
| # Dynamic friction also needs to be zero due to a bug in PhysX |
| cube_object.write_root_velocity_to_sim(torch.zeros((num_cubes, 6), device=sim.device)) | ||
| cube_mass = cube_object.root_physx_view.get_masses() | ||
| gravity_magnitude = abs(sim.cfg.gravity[2]) | ||
| # friction static condition |
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NIT: Can we add back in the comment regarding the test cases (might be too basic 😄)
Suggested change
| # friction static condition | |
| # 2 cases: force applied is below and above mu | |
| # below mu: block should not move as the force applied is <= mu | |
| # above mu: block should move as the force applied is > mu |
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| # let everything settle | ||
| for _ in range(100): | ||
| sim.step() | ||
| cube_object.update(sim.cfg.dt) |
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Curious: Is this needed? What happens if we don't have these lines?
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| if force == "above_mu": | ||
| self.assertTrue( | ||
| (cube_object.data.root_state_w[..., 0] - initial_root_pos[..., 0] > 0.02).all() | ||
| ) |
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NIT: Why check this only after the fact? Also, why not use assert_close?
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| cube_object_materials = torch.cat([static_friction, dynamic_friction, restitution], dim=-1) | ||
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| # Add friction to cube |
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Suggested change
| # Add friction to cube | |
| # Add restitution to cube |
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Description
Fixes the commented out tests in the rigid body test
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there