Update to physics simulation params and autosimulate flags

Fixing bug in non-armed agent configurations where the legacy version of calling physics updates was not entering the right loop correctly. Main fixes include: - setting default minSimulateTimeSeconds so that one physics update happens when calling legacy actions - Updating position of caching autoSimulate state so it happens after actionFinished calls happen
allenai · Feb 11, 2025 · a1e8c4d · a1e8c4d
1 parent c1f52ee
commit a1e8c4d
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Showing 3 changed files with 22 additions and 45 deletions.
diff --git a/unity/Assets/Scripts/DebugInputField.cs b/unity/Assets/Scripts/DebugInputField.cs
@@ -293,46 +293,26 @@ public void Execute(string command) {
                     }
                 case "initb": {
                         Dictionary<string, object> action = new Dictionary<string, object>();
-                        // if you want to use smaller grid size step increments, initialize with a smaller/larger gridsize here
-                        // by default the gridsize is 0.25, so only moving in increments of .25 will work
-                        // so the MoveAhead action will only take, by default, 0.25, .5, .75 etc magnitude with the default
-                        // grid size!
-                        // if (splitcommand.Length == 2) {
-                        //     action["gridSize"] = float.Parse(splitcommand[1]);
-                        // } else if (splitcommand.Length == 3) {
-                        //     action["gridSize"] = float.Parse(splitcommand[1]);
-                        //     action["agentCount"] = int.Parse(splitcommand[2]);
-                        // } else if (splitcommand.Length == 4) {
-                        //     action["gridSize"] = float.Parse(splitcommand[1]);
-                        //     action["agentCount"] = int.Parse(splitcommand[2]);
-                        //     action["makeAgentsVisible"] = int.Parse(splitcommand[3]) == 1;
-                        // }
-
-                        // action.renderNormalsImage = true;
-                        // action.renderDepthImage = true;
-                        // action.renderSemanticSegmentation = true;
-                        // action.renderInstanceSegmentation = true;
-                        // action.renderFlowImage = true;
 
                         action["action"] = "Initialize";
                         action["agentMode"] = "locobot";
-                        // action["gridSize"] = 0.25f;
                         action["visibilityDistance"] = 1.0f;
                         action["rotateStepDegrees"] = 30;
-                        // action["agentControllerType"] = "stochastic";
-                        // action["applyActionNoise"] = true;
                         action["width"] = 400;
                         action["height"] = 300;
                         action["snapToGrid"] = false;
                         action["fieldOfView"] = 79;
                         action["gridSize"] = 0.25f;
-
                         action["applyActionNoise"] = true;
                         action["continuousMode"] = true;
-                        //action["snapToGrid"] = false;
-                        //action["action"] = "Initialize";
-                        //action["fieldOfView"] = 90;
-                        //action["gridSize"] = 0.25f;
+
+                        //action["autoSimulation"] = false;
+
+                        PhysicsSimulationParams physicsParams = new PhysicsSimulationParams();
+                        physicsParams.autoSimulation = false;
+                        physicsParams.minSimulateTimeSeconds = 0.02f;
+                        action["physicsSimulationParams"] = physicsParams;
+
                         CurrentActiveController()
                             .ProcessControlCommand(new DynamicServerAction(action), AManager);
                         break;
@@ -419,6 +399,7 @@ public void Execute(string command) {
                         action["agentMode"] = "arm";
                         action["agentControllerType"] = "arm";
                         action["renderInstanceSegmentation"] = true;
+                        action["autoSimulation"] = false;
 
                         // action.useMassThreshold = true;
                         // action.massThreshold = 10f;
@@ -3304,14 +3285,12 @@ IEnumerator executeBatch(JArray jActions) {
                 case "ma": {
                         Dictionary<string, object> action = new Dictionary<string, object>();
                         action["action"] = "MoveAhead";
-                        action["speed"] = 0.14f;
-                        action["acceleration"] = 0.14f;
+                        PhysicsSimulationParams physicsParams = new PhysicsSimulationParams() {
+                            autoSimulation = false,
+                            minSimulateTimeSeconds = 0.02f
+                        };
+                        //action["physicsSimulationParams"] = physicsParams;
 
-                        if (splitcommand.Length > 1) {
-                            action["moveMagnitude"] = float.Parse(splitcommand[1]);
-                        } else {
-                            action["moveMagnitude"] = 0.25f;
-                        }
                         CurrentActiveController().ProcessControlCommand(action);
                         break;
                     }

diff --git a/unity/Assets/Scripts/PhysicsSceneManager.cs b/unity/Assets/Scripts/PhysicsSceneManager.cs
@@ -13,7 +13,7 @@
 public class PhysicsSimulationParams {
     public bool autoSimulation = false;
     public float fixedDeltaTime = 0.02f;
-    public float minSimulateTimeSeconds = 0;
+    public float minSimulateTimeSeconds = 0.02f;
 
     public bool syncTransformsAfterAction = false;
 
@@ -95,7 +95,7 @@ public static float fixedDeltaTime {
     }
 
     void Awake() {
-        SetDefaultSimulationParams(new PhysicsSimulationParams());
+        //SetDefaultSimulationParams(new PhysicsSimulationParams());
     }
 
     private void OnEnable() {
@@ -200,8 +200,6 @@ public static ActionFinished RunSimulatePhysicsForAction(
         PhysicsSimulationParams physicsSimulationParams
     ) {
         var fixedDeltaTime = physicsSimulationParams.fixedDeltaTime;
-        var previousAutoSimulate = Physics.autoSimulation;
-        Physics.autoSimulation = physicsSimulationParams.autoSimulation;
 
         PhysicsSceneManager.PhysicsSimulateTimeSeconds = 0.0f;
         var startPhysicsSimulateCallTime = PhysicsSceneManager.PhysicsSimulateCallCount;
@@ -210,6 +208,9 @@ PhysicsSimulationParams physicsSimulationParams
         // Recursive expansion of IEnumerator
         ActionFinished actionFinished = ExpandIEnumerator(enumerator, physicsSimulationParams);
 
+        var previousAutoSimulate = Physics.autoSimulation;
+        Physics.autoSimulation = physicsSimulationParams.autoSimulation;
+
         if (actionFinished == null) {
             throw new MissingActionFinishedException();
         }

diff --git a/unity/Assets/UnitTests/TestDispatcher.cs b/unity/Assets/UnitTests/TestDispatcher.cs
@@ -172,8 +172,7 @@ public IEnumerator TestBackCompatAction()
         }
 
         [UnityTest]
-        public IEnumerator TestNewAction()
-        {
+        public IEnumerator TestNewAction() {
             var controller = new TestController(this.agentManager);
 
             var result = 5;
@@ -192,10 +191,8 @@ public IEnumerator TestNewAction()
 
             // Complete (new actionFinished) was called automatically
             Assert.IsTrue(controller.ranCompleteCallback);
-
-            // No physics sim happened
-            Assert.AreEqual(PhysicsSceneManager.PhysicsSimulateCallCount, 0);
-
+            // Defaults of PhyicsSimulationParams class will have one physics step of 0.02f seconds happen
+            Assert.AreEqual(PhysicsSceneManager.PhysicsSimulateCallCount, 1);
             // 1 iteration corresponding the yield return new ActionFinished()
             Assert.AreEqual(PhysicsSceneManager.IteratorExpandCount, 1);
             // returns result