update urdf loader

yolkarian · yolkarian · commit 2faffca5d153 · 2025-03-05T16:25:38.000+01:00
diff --git a/manualtest/gpu_viewer.py b/manualtest/gpu_viewer.py
@@ -32,7 +32,7 @@ def main():
 
     robots: list[sapien.physx.PhysxArticulation] = []
     for scene in scenes:
-        scene.load_widget_from_package("demo_arena", "DemoArena")
+        # scene.load_widget_from_package("demo_arena", "DemoArena")
         builder.set_scene(scene)
         robot = builder.build()
         robots.append(robot)
@@ -180,13 +180,13 @@ def slow_way():
     viewer.set_scenes(scenes)
     vs = viewer.window._internal_scene
     vs.set_ambient_light([0.1, 0.1, 0.1])
-    vs.set_cubemap(scenes[0].render_system.get_cubemap()._internal_cubemap)
+    # vs.set_cubemap(sapien.render.RenderCubemap()._internal_cubemap)
 
     viewer.render()
 
     while not viewer.closed:
         px.step()
-        px.sync_poses_gpu_to_cpu()
+        # px.sync_poses_gpu_to_cpu()
         viewer.window.update_render()
         viewer.render()
 
diff --git a/python/py_package/wrapper/actor_builder.py b/python/py_package/wrapper/actor_builder.py
@@ -7,6 +7,7 @@
 from .coacd import do_coacd
 
 
+
 def preprocess_mesh_file(filename: str):
     """
     Process input mesh file to a SAPIEN supported format
@@ -16,7 +17,7 @@ def preprocess_mesh_file(filename: str):
         filename for the generated file or original filename
     """
 
-    from .geometry.usd import convert_usd_to_glb
+    from sapien.wrapper.geometry.usd import convert_usd_to_glb
 
     if any(filename.lower().endswith(s) for s in [".usd", ".usda", ".usdc", ".usdz"]):
         glb_filename = filename + ".sapien.glb"
@@ -62,6 +63,7 @@ class CollisionShapeRecord:
     decomposition_params: Union[Dict[str, Any], None] = None
 
 
+
 @dataclass
 class VisualShapeRecord:
     type: Literal["file", "plane", "box", "capsule", "sphere", "cylinder"]
@@ -97,7 +99,9 @@ def __init__(self):
         self._cmass_local_pose = sapien.Pose()
         self._inertia = np.zeros(3)
         self._auto_inertial = True
-
+        self.disable_gravity: bool = False
+        self.linear_damping: float = 0.0
+        self.angular_damping: float = 0.0
         self.initial_pose = sapien.Pose()
 
     def set_initial_pose(self, pose):
@@ -132,8 +136,7 @@ def build_render_component(self):
             else:
                 assert r.material is None or isinstance(
                     r.material, sapien.render.RenderMaterial
-                )
-
+                )    # gravity property is temporarily placed here.
             if r.type == "plane":
                 shape = sapien.render.RenderShapePlane(r.scale, r.material)
             elif r.type == "box":
@@ -168,13 +171,22 @@ def build_physx_component(self, link_parent=None):
 
         if self.physx_body_type == "dynamic":
             component = sapien.physx.PhysxRigidDynamicComponent()
+            component.set_linear_damping(self.linear_damping)
+            component.set_angular_damping(self.angular_damping)
+            component.set_disable_gravity(self.disable_gravity)
         elif self.physx_body_type == "kinematic":
             component = sapien.physx.PhysxRigidDynamicComponent()
+            component.set_linear_damping(self.linear_damping)
+            component.set_angular_damping(self.angular_damping)
+            component.set_disable_gravity(self.disable_gravity)
             component.kinematic = True
         elif self.physx_body_type == "static":
             component = sapien.physx.PhysxRigidStaticComponent()
         elif self.physx_body_type == "link":
             component = sapien.physx.PhysxArticulationLinkComponent(link_parent)
+            component.set_linear_damping(self.linear_damping)
+            component.set_angular_damping(self.angular_damping)
+            component.set_disable_gravity(self.disable_gravity)
         else:
             raise Exception(f"invalid physx body type [{self.physx_body_type}]")
 
@@ -280,7 +292,7 @@ def build(self, name=None):
 
         entity = self.build_entity()
         entity.name = self.name
-        entity.pose = self.initial_pose  # set pose before adding to scene
+        entity.set_pose(self.initial_pose) # set pose before adding to scene
         self.scene.add_entity(entity)
         return entity
 
diff --git a/python/py_package/wrapper/articulation_builder.py b/python/py_package/wrapper/articulation_builder.py
@@ -3,9 +3,9 @@
 from ..pysapien.physx import PhysxArticulation, PhysxRigidDynamicComponent, PhysxArticulationLinkComponent
 from typing import Optional
 import numpy as np
+from numpy.typing import NDArray
 from dataclasses import dataclass
-from typing import List, Tuple
-
+from typing import List, Tuple, Union
 
 @dataclass
 class MimicJointRecord:
@@ -19,19 +19,20 @@ class MimicJointRecord:
 class JointRecord:
     joint_type: str = "undefined"  # "fixed", "prismatic", "revolute"
     limits: Tuple[float] = (-np.inf, np.inf)
-    pose_in_parent:Pose = Pose()
+    pose_in_parent: Pose = Pose()
     pose_in_child: Pose = Pose()
     friction: float = 0
     damping: float = 0
+    armature: Union[NDArray[np.float32], float] = 0.01
     name: str = ""
 
 
 class LinkBuilder(ActorBuilder):
     def __init__(self, index: int, parent):
         super().__init__()
-        self.parent = parent
-        self.index = index
-        self.joint_record = JointRecord()
+        self.parent:LinkBuilder = parent
+        self.index:int = index
+        self.joint_record = JointRecord()  # Joint record of the parent joint.
         self.physx_body_type = "link"
 
     def set_joint_name(self, name):
@@ -117,11 +118,13 @@ def build_entities(self, fix_root_link=None)->List[Entity]:
             ]:
                 link_component.joint.limit = np.array(b.joint_record.limits).flatten()
                 link_component.joint.set_drive_property(0, b.joint_record.damping)
+                link_component.joint.set_armature(b.joint_record.armature * np.ones_like(link_component.joint.get_armature(), dtype=np.float32))
 
             links.append(link_component)
             entities.append(entity)
 
         if fix_root_link is not None:
+            # The first component should be sapien.physx.PhysxArticulationLinkComponent
             entities[0].components[0].joint.type = (
                 "fixed" if fix_root_link else "undefined"
             )
