Make sleep threshold lower

StanfordVL · Oct 15, 2024 · a819749 · a819749
1 parent 964c09b
commit a819749
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Showing 2 changed files with 1 addition and 2 deletions.
diff --git a/omnigibson/prims/entity_prim.py b/omnigibson/prims/entity_prim.py
@@ -21,7 +21,7 @@
 m = create_module_macros(module_path=__file__)
 
 # Default sleep threshold for all objects -- see https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/simulation-control/physics-settings.html?highlight=sleep#sleeping
-m.DEFAULT_SLEEP_THRESHOLD = 0.001
+m.DEFAULT_SLEEP_THRESHOLD = 0.00005
 
 
 class EntityPrim(XFormPrim):

diff --git a/omnigibson/simulator.py b/omnigibson/simulator.py
@@ -496,7 +496,6 @@ def _set_renderer_settings(self):
             lazy.carb.settings.get_settings().set_bool("/physics/fabricUpdateJointStates", False)
             lazy.carb.settings.get_settings().set_bool("/physics/fabricUpdateResiduals", False)
             lazy.carb.settings.get_settings().set_bool("/physics/fabricUseGPUInterop", True)
-            # lazy.carb.settings.get_settings().set_bool("/physics/disableSleeping", True)
 
         def _validate_dts(self, physics_dt, rendering_dt, sim_step_dt):
             """