Fix material friction being ignore when parsing URDF/MJCF files.

Author: duburcqa

examples/rigid/suction_cup.py

@@ -4,7 +4,6 @@
 
 
 def main():
-
     parser = argparse.ArgumentParser()
     parser.add_argument("-v", "--vis", action="store_true", default=False)
     parser.add_argument("-c", "--cpu", action="store_true", default=False)
@@ -96,7 +95,7 @@ def main():
 
     # add suction / weld constraint
     rigid = scene.sim.rigid_solver
-    link_cube = cube.get_link("box_baselink").idx
+    link_cube = cube.base_link_idx
     link_franka = franka.get_link("hand").idx
     rigid.add_weld_constraint(link_cube, link_franka)
 

genesis/engine/entities/drone_entity.py

@@ -12,17 +12,17 @@
 
 @ti.data_oriented
 class DroneEntity(RigidEntity):
-    def _load_scene(self, morph, surface):
-        super()._load_scene(morph, surface)
+    def _load_scene(self):
+        super()._load_scene()
 
         # additional drone specific attributes
-        properties = ET.parse(os.path.join(mu.get_assets_dir(), morph.file)).getroot()[0].attrib
+        properties = ET.parse(os.path.join(mu.get_assets_dir(), self.morph.file)).getroot()[0].attrib
         self._KF = float(properties["kf"])
         self._KM = float(properties["km"])
 
-        self._n_propellers = len(morph.propellers_link_name)
+        self._n_propellers = len(self.morph.propellers_link_name)
 
-        propellers_link = gs.List([self.get_link(name) for name in morph.propellers_link_name])
+        propellers_link = gs.List([self.get_link(name) for name in self.morph.propellers_link_name])
         self._propellers_link_idxs = torch.tensor(
             [link.idx for link in propellers_link], dtype=gs.tc_int, device=gs.device
         )
@@ -35,8 +35,8 @@ def _load_scene(self, morph, surface):
             gs.logger.warning("No visual geometry found for propellers. Skipping propeller animation.")
             self._animate_propellers = False
 
-        self._propellers_spin = torch.tensor(morph.propellers_spin, dtype=gs.tc_float, device=gs.device)
-        self._model = morph.model
+        self._propellers_spin = torch.tensor(self.morph.propellers_spin, dtype=gs.tc_float, device=gs.device)
+        self._model = self.morph.model
 
     def _build(self):
         super()._build()