removes setting stage units since it is default

source/extensions/omni.isaac.orbit/test/test_camera.py

@@ -55,9 +55,7 @@ class TestCameraSensor(unittest.TestCase):
         # Simulation time-step
         self.dt = 0.01
         # Load kit helper
-        self.sim = SimulationContext(
-            stage_units_in_meters=1.0, physics_dt=self.dt, rendering_dt=self.dt, backend="numpy"
-        )
+        self.sim = SimulationContext(physics_dt=self.dt, rendering_dt=self.dt, backend="numpy")
         # Set camera view
         set_camera_view(eye=[2.5, 2.5, 2.5], target=[0.0, 0.0, 0.0])
         # Fix random seed -- to generate same scene every time

source/extensions/omni.isaac.orbit/test/test_height_scanner.py

@@ -53,9 +53,7 @@ class TestHeightScannerSensor(unittest.TestCase):
         # Simulation time-step
         self.dt = 0.1
         # Load kit helper
-        self.sim = SimulationContext(
-            stage_units_in_meters=1.0, physics_dt=self.dt, rendering_dt=self.dt, backend="numpy"
-        )
+        self.sim = SimulationContext(physics_dt=self.dt, rendering_dt=self.dt, backend="numpy")
         # Set camera view
         set_camera_view(eye=[5.0, 5.0, 5.0], target=[0.0, 0.0, 0.0])
         # Spawn things into stage

source/extensions/omni.isaac.orbit/test/test_kit_utils.py

@@ -38,9 +38,7 @@ class TestKitUtilities(unittest.TestCase):
         # Simulation time-step
         self.dt = 0.1
         # Load kit helper
-        self.sim = SimulationContext(
-            stage_units_in_meters=1.0, physics_dt=self.dt, rendering_dt=self.dt, backend="numpy"
-        )
+        self.sim = SimulationContext(physics_dt=self.dt, rendering_dt=self.dt, backend="numpy")
         # Set camera view
         set_camera_view(eye=[1.0, 1.0, 1.0], target=[0.0, 0.0, 0.0])
         # Spawn things into stage

source/standalone/demo/play_camera.py

@@ -106,7 +106,7 @@ def main():
     """Runs a camera sensor from orbit."""
 
     # Load kit helper
-    sim = SimulationContext(stage_units_in_meters=1.0, physics_dt=0.005, rendering_dt=0.005, backend="torch")
+    sim = SimulationContext(physics_dt=0.005, rendering_dt=0.005, backend="torch")
     # Set main camera
     set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])
     # Acquire draw interface

source/standalone/demo/play_ik_control.py

@@ -60,9 +60,7 @@ def main():
     """Spawns a single-arm manipulator and applies commands through inverse kinematics control."""
 
     # Load kit helper
-    sim = SimulationContext(
-        stage_units_in_meters=1.0, physics_dt=0.01, rendering_dt=0.01, backend="torch", device="cuda:0"
-    )
+    sim = SimulationContext(physics_dt=0.01, rendering_dt=0.01, backend="torch", device="cuda:0")
     # Set main camera
     set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])
     # Enable GPU pipeline and flatcache

source/standalone/demo/play_ridgeback_franka.py

@@ -78,7 +78,7 @@ def main():
     """Spawns a mobile manipulator and applies random joint position commands."""
 
     # Load kit helper
-    sim = SimulationContext(stage_units_in_meters=1.0, physics_dt=0.01, rendering_dt=0.01, backend="torch")
+    sim = SimulationContext(physics_dt=0.01, rendering_dt=0.01, backend="torch")
     # Set main camera
     set_camera_view([1.5, 1.5, 1.5], [0.0, 0.0, 0.0])
     # Spawn things into stage

source/tools/convert_urdf.py

@@ -164,7 +164,7 @@ def main():
         # Open the stage with USD
         stage_utils.open_stage(dest_path)
         # Load kit helper
-        sim = SimulationContext(stage_units_in_meters=1.0)
+        sim = SimulationContext()
         # stage_utils.add_reference_to_stage(dest_path, "/Robot")
         # Reinitialize the simulation
         # Run simulation