[MultiverseAction] merged with multiverse_controller to update the la…

…test changes.

src/pycram/config/multiverse_conf.py

@@ -15,16 +15,16 @@
 """
 
 # Multiverse Simulation Configuration
-simulation_time_step: float = 1e-2
-simulation_frequency: int = int(1 / simulation_time_step)
+simulation_time_step: datetime.timedelta = datetime.timedelta(milliseconds=10)
+simulation_frequency: int = int(1 / simulation_time_step.total_seconds())
 
 use_bullet_mode: bool = True
 """
 If True, the simulation will always be in paused state unless the simulate() function is called, this behaves 
 similar to bullet_world which uses the bullet physics engine.
 """
 
-use_controller: bool = True
+use_controller: bool = False
 """
 Only used when use_bullet_mode is False. This turns on the controller for the robot joints.
 """

src/pycram/worlds/multiverse.py

@@ -53,7 +53,7 @@ class Multiverse(World):
     similar to bullet_world which uses the bullet physics engine.
     """
 
-    use_controller: bool = conf.use_controller and not use_bullet_mode
+    use_controller: bool = conf.use_controller and not conf.use_bullet_mode
     """
     Whether to use the controller for the robot joints or not.
     """

test/test_multiverse.py

@@ -293,7 +293,9 @@ def test_get_object_contact_points(self):
             self.assertIsInstance(contact_points[0], ContactPoint)
             self.assertTrue(contact_points[0].link_b.object, self.multiverse.floor)
             cup = self.spawn_cup([1, 1, 0.1])
-            self.multiverse.simulate(0.2)
+            # This is needed because the cup is spawned in the air so it needs to fall
+            # to get in contact with the milk
+            self.multiverse.simulate(0.3)
             contact_points = self.multiverse.get_object_contact_points(cup)
             self.assertIsInstance(contact_points, ContactPointsList)
             self.assertEqual(len(contact_points), 1)
@@ -307,7 +309,7 @@ def test_get_contact_points_between_two_objects(self):
             cup = self.spawn_cup([1, 1, 0.1])
             # This is needed because the cup is spawned in the air so it needs to fall
             # to get in contact with the milk
-            self.multiverse.simulate(0.2)
+            self.multiverse.simulate(0.3)
             contact_points = self.multiverse.get_contact_points_between_two_objects(milk, cup)
             self.assertIsInstance(contact_points, ContactPointsList)
             self.assertEqual(len(contact_points), 1)